Systems and methods for agricultural monitoring

ABSTRACT

An agricultural monitoring system, the agricultural monitoring system comprising: an imaging sensor, configured and operable to acquire image data at submillimetric image resolution of parts of an agricultural area in which crops grow, when the imaging sensor is airborne; a communication module, configured and operable to transmit to an external system image data content which is based on the image data acquired by the airborne imaging sensor; and a connector operable to connect the imaging sensor and the communication module to an airborne platform 1.

The present application is a continuation of U.S. application Ser. No.15/542,853 filed Jul. 11, 2017, which is a US National Phase entry ofPCT/IL2015/051169 filed Dec. 2, 2015, which claims priority to IsraelApplication Serial No. 236606 filed Jan. 11, 2015, all of which areincorporated herein by reference.

FIELD

The invention is related to systems, methods, and computer programproducts for agricultural monitoring, and more specifically to systems,methods and computer program products for agricultural monitoring whichis based on image data acquired by an airborne imaging sensor.

BACKGROUND

Chinese utility model serial number CN203528823 entitled “Rice bacterialleaf blight preventing unmanned aerial vehicle with colored rice diseaseimage identifier” relates to a rice bacterial leaf blight preventingunmanned aerial vehicle with a colored rice disease image identifier,and belongs to the technical field of agricultural aviation plantprotection. The rice bacterial leaf blight preventing intelligentunmamed aerial vehicle flies over a rice field and detects occurrence ofbacterial leaf blight, a camera and a video camera mounted in aphotoelectric pod is below the rice bacterial leaf blight preventingintelligent unmanned aerial vehicle input sensed colored lice diseaseimages in the rice field to a colored rice disease image storage systemfor storage, next, the images are inputted to the colored rice diseaseimage identifier and compared with stored colored rice disease standardimages, disease types and harm situations are identified and confirmed,harm information of the bacterial leaf blight is inputted to a computerspraying treatment instruction information system for processing, aspraying treatment instruction is made, a pressure pump applies pressureto treatment chemical pesticide liquid according to the sprayingtreatment instruction, the pressurized chemical pesticide liquid issprayed to the rice field by a bacterial leaf blight treatment chemicalpesticide liquid sprayer.

Chinese utility model serial number CN203528822 entitled “Rice sheathblight disease preventing unmanned aerial vehicle with colored ricedisease image identifier” relates to a rice sheath blight diseasepreventing unmanned aerial vehicle with a colored rice disease imageidentifier, and belongs to the technical field of agricultural aviationplant protection. A video camera and a camera mounted in a photoelectricpod below the rice sheath blight disease preventing intelligent unmannedaerial vehicle input sensed colored rice disease images in a rice fieldto a colored rice disease image storage system for storage, next, theimages are inputted to the colored rice disease image identifier andcompared with stored colored rice disease standard images, harmsituations of rice sheath blight diseases are identified, harminformation of the sheath blight diseases is inputted to a computerspraying treatment instruction information system for processing, aspraying treatment instruction transmitted by the computer sprayingtreatment instruction information system regulates pressure applied by apressure pump to treatment chemical pesticide liquid through a sprayingtreatment instruction information transmission line, the pressurizedchemical pesticide liquid is sprayed to the rice field by a sheathblight disease treatment chemical pesticide liquid sprayer byregulation.

Chinese patent application serial number CN103523226A entitled “Unmannedaerial vehicle with colorized rice disease image recognition instrumentand for preventing and treating rice sheath blight diseases” relates toan unmanned aerial vehicle with a colorized rice disease imagerecognition instrument and for preventing and treating rice sheathblight diseases and belongs to the technical field of agriculturalaviation plant protection. Colorized rice disease images in rice fieldssensed by vidicons and cameras in a photoelectric pod below theintelligent unmanned aerial vehicle for preventing and treating the ricesheath blight diseases are input to a colorized rice disease imagestorage system to achieve storage, and then input to the colorized ricedisease image recognition instrument to be compared with the storedcolorized rice disease standard images to recognize hazard situations ofthe rice sheath blight diseases. The harmful information of the ricesheath blight diseases is input to a computer spray treatment commandinformation system to achieve processing. Spray treatment commands sentby the computer spray treatment command information system control thepressure of a pressure pump on treatment chemical pesticide liquidthrough a spray treatment command information transmission line andcontrol the pressurized chemical pesticide liquid to be sprayed to therice fields through a sprayer containing the chemical pesticide liquidfor treating the rice sheath blight diseases.

Japanese patent application serial number JPH11235124A entitled “Precisefarming” discusses a method for precisely farming, capable of preventingthe excessive or deficient application of fertilizers and pesticides,improving the application efficiencies of the fertilizers and thepesticides and increasing the yield of crops by detecting the cropgrowth state of a farm field to automatically form a crop growth map ofthe farm field and subsequently applying fertilizers, pesticides, etc.,on the basis of the data of the formed crop growth map. The patentapplication discusses a method for precisely farming comprises aeriallyphotographing the crop growth state of a farm field, for example, with acamera 70 loaded on a helicopter, detecting the chlorophyll contents ofthe crops from the images taken with the camera 70 of color sensor todetect the crop growth state of the farm field, and subsequently formingthe crop growth map of the farm field

U.S. patent application Ser. No. 11/353,351 entitled “Irrigation remotesensing system” discusses a data gathering device associated with anagricultural irrigation system including at least one camera movablyconnected to the irrigation system

GENERAL DESCRIPTION

According to an aspect of the invention, there is disclosed a method foragricultural monitoring, the method including: (a) flying an airborneimaging sensor along a flight path over an agricultural area in whichcrops grow; (b) acquiring by the airborne imaging sensor image data ofparts of the agricultural area, wherein the acquiring of the image datais executed at a set of imaging locations along the flight path whichenable acquisition of the image data at submillimetric image resolution;and (c) transmitting to an external system image data content which isbased on the image data acquired by the airborne imaging sensor.

According to a further aspect of the invention, the method may includetransmitting the image data content to the external system fordisplaying to an agronomist at a remote location agronomic image datawhich is based on the image data content, thereby enabling theagronomist to remotely analyze the agricultural area.

According to a further aspect of the invention, the flight path is aterrain following flight path.

According to a further aspect of the invention, the acquiring includeacquiring image data at the set of imaging locations while flying theairborne imaging sensor along the imaging locations at velocities whichdo not fall below 50% of the average speed of the airborne platformalong the flight path.

According to a further aspect of the invention, the acquiring includesmechanically timing at least one component of the airborne imagingsensor with respect to a carrying airborne platform, for compensatingfor the motion of the airborne imaging sensor with respect to the cropsduring the acquiring.

According to a further aspect of the invention, the acquiring includes:(a) mechanically rotating at least one optical component of the airborneimaging sensor with respect to a carrying airborne platform, forcompensating for the motion of the airborne imaging sensor with respectto the crops during the acquiring; and (b) concurrently to the rotationof the at least one optical component, for each frame out of a pluralityof frames of the image data: initiating a focusing process of theimaging sensor when an acquisition optical axis is at a degree widerthan 20° from the vertical axis, and acquiring the image data usingvertical imaging, when the acquisition optical axis is at a degreesmaller than 20° from the vertical axis.

According to a further aspect of the invention, the acquiring includesilluminating the crops during the acquiring, for compensating for themotion of the airborne imaging sensor with respect to the crops duringthe acquiring.

According to a further aspect of the invention, the flying includes theflying includes flying the airborne imaging sensor along a flight pathwhich extends over at least a first agricultural property of a firstowner and a second agricultural property of a second owner other thanthe first owner, wherein the method includes acquiring first image dataof parts of first agricultural property and acquiring second image dataof parts of the second agricultural property; generating first imagedata content based on the first image data and generating second imagedata content based on the second image data; for providing the firstimage data content to a first entity in a first message, and forproviding the second data content to a second entity in a secondmessage.

According to a further aspect of the invention, the acquiring includesacquiring image data of parts of the agricultural area which areinaccessible to land vehicles.

According to a further aspect of the invention, the acquiring includesacquiring image data of parts of the agricultural area which areinaccessible by foot.

According to a further aspect of the invention, the flying includesflying the imaging sensor by an agricultural aircraft which isconfigured for aerial application of crop protection products.

According to a further aspect of the invention, the method furtherincludes selecting aerial application parameters for aerial applicationof crop protection products by the agricultural aircraft based onprocessing of the image data.

According to a further aspect of the invention, the set of imaginglocations along the flight path are located less than 20 meters abovethe top of the crops growing in the agricultural area.

According to a further aspect of the invention, the acquiring includesacquiring image data of the agricultural area at a coverage rate ofunder 500 square meters per hectare.

According to a further aspect of the invention, the transmitting isfollowed by subsequent instance of the flying, the acquiring and thetransmitting, wherein the method further includes planning a path forthe subsequent instance of flying, based on the image data acquired in aprevious instance of acquiring.

According to a further aspect of the invention, the acquiring includescompensating for movement of the imaging sensor during the acquisitionof the image data.

According to a further aspect of the invention, the acquiring of theimage data includes acquiring the image data using vertical imaging.

According to a further aspect of the invention, the method furtherincludes applying computerized processing algorithms to the image datacontent for detecting leaves diseases or indication of parasites effecton the leaves, in one or more plants in the agricultural area.

According to a further aspect of the invention, the flying, theacquiring and the transmitting are reiterated over multiple weeks,wherein the method further includes processing image data acquired atdifferent times over the multiple weeks, for determining growthparameters for the plants in the agricultural area.

According to a further aspect of the invention, the method furtherincludes applying computerized processing algorithms to the image datafor identifying selected agronomic significant data, and generatingagronomic image data for transmission to a remote system based on theselected agronomic significant data.

According to a further aspect of the invention, the method furtherincludes applying computerized processing algorithms to the selectedagronomic significant data for selecting, out of a plurality of possiblerecipients, a recipient for the agronomic image data, based on agronomicexpertise of the possible recipients.

According to a further aspect of the invention, the flying is precededby defining a surveillance flight plan for an airborne surveillancesystem, the surveillance flight plan including acquisition locationsplan indicative of a plurality of imaging locations, wherein the flyingof the airborne sensor is part of flying the airborne surveillancesystem along a flight path over an agricultural area, based on thesurveillance flight plan.

According to a further aspect of the invention, the flight path is aterrain following flight path; wherein the flying includes flying theimaging sensor by an agricultural aircraft which is configured foraerial application of crop protection products; wherein the set ofimaging locations along the flight path are located less than 20 metersabove the top of the crops growing in the agricultural area; wherein theacquiring includes: (a) acquiring image data at the set of imaginglocations while flying the airborne imaging sensor along the imaginglocations at velocities which do not fall below 50% of the average speedof the airborne platform along the flight path; and (b) compensating farthe motion of the airborne imaging sensor with respect to the cropsduring the acquiring, by illuminating the crops during the acquiring andby mechanically moving at least one component of the airborne imagingsensor with respect to a carrying airborne platform; wherein thetransmitting includes transmitting the image data content to theexternal system for displaying to an agronomist at a remote locationagronomic image data which is based on the image data content, therebyenabling the agronomist to remotely analyze the agricultural area;wherein the method further includes: prior to the flying, defining asurveillance flight plan for an airborne surveillance system, thesurveillance flight plan including acquisition locations plan indicativeof a plurality of imaging locations, wherein the flying of the airbornesensor is part of flying the airborne surveillance system along a flightpath over an agricultural area, based on the surveillance flight plan.

According to an aspect of the invention, there is disclosed a method foragricultural monitoring, the method including: (a) defining asurveillance flight plan for an airborne surveillance system, thesurveillance flight plan including acquisition locations plan indicativeof a plurality of imaging locations; (b) based on the surveillanceflight plan, flying the airborne surveillance system along a flight pathover an agricultural area in which crops grow; (c) based on theacquisition locations plan, acquiring during the flight by the airbornesurveillance system image data of parts of the agricultural area atsubmillimetric image resolution; and (d) transmitting to an externalsystem image data content which is based on the image data acquired bythe airborne surveillance system.

According to a further aspect of the invention, the defining of thesurveillance flight plan is preceded by receiving surveillance requestsassociated with a plurality of independent entities, and includesdefining the surveillance flight plan to indicate imaging locations forcrops of each of the plurality of independent entities.

According to a further aspect of the invention, the agricultural areaincludes a plurality of fields in which at least two types of cropsgrow, wherein the defining of the surveillance flight plan includesdefining different acquisition parameters for imaging locationsassociated with different types of crops.

According to an aspect of the invention, there is disclosed anagricultural monitoring system, the agricultural monitoring systemincluding: (a) an imaging sensor, configured and operable to acquireimage data at submillimetric image resolution of parts of anagricultural area in which crops grow, when the imaging sensor isairborne; (b) a communication module, configured and operable totransmit to an external system image data content which is based on theimage data acquired by the airborne imaging sensor; and (c) a connectoroperable to connect the imaging sensor and the communication module toan airborne platform.

According to a further aspect of the invention, the agriculturalmonitoring system further includes an airborne areal platform which isoperable to fly the airborne imaging sensor along a flight path over anagricultural area.

According to a further aspect of the invention, the agriculturalmonitoring system further includes a detachable coupling, operable todetachably couple the airborne imaging sensor to an airborne platform.

According to a further aspect of the invention, the imaging sensor isconfigured and operable to acquire the image data at altitude smallerthan 20 meters above the top of the crops growing in the agriculturalarea.

According to a further aspect of the invention, the imaging sensor isconfigured and operable to acquire the image data while flown atvelocities which exceed 10 m/s.

According to a further aspect of the invention, the agriculturalmonitoring system further includes at least one mechanical couplingwhich couples at least one component of the imaging sensor to an engine,by which motion of the engine mechanically moves the at least onecomponent of the imaging sensor with respect to the airborne platformconcurrently to the acquisition of image data by the imaging sensor.

According to a further aspect of the invention, the agriculturalmonitoring system further includes an engine operable to mechanicallyrotate at least one optical component of the imaging sensor with respectto the airborne platform, for compensating far the motion of the imagingsensor with respect to the crops during the acquiring; wherein theimaging sensor is configured and operable to: (a) initiate a focusingprocess concurrently to the rotation of the at least one opticalcomponent when an acquisition optical axis is at a degree wider than 20°from the vertical axis, and (b) acquire the image data using verticalimaging, when the acquisition optical axis is at a degree smaller than20° from the vertical axis.

According to a further aspect of the invention, the agriculturalmonitoring system further includes an illumination unit, configured andoperable to illuminate the crops during acquisition of image data by theimaging sensor.

According to a further aspect of the invention, the imaging sensor isconfigured and operable to acquire the image data using verticalimaging.

The agricultural monitoring system according to claim 23, furtherincluding a processor which is configured and operable to process theimage data content for detecting leaves diseases or indication ofparasites effect on the leaves in one or more plants in the agriculturalarea.

According to a further aspect of the invention, the agriculturalmonitoring system further includes a processor which is configured andoperable to process the image data content for identifying selectedagronomic significant data, and to generate agronomic image data fortransmission to a remote system based on the selected agronomicsignificant data.

According to an aspect of the invention, there is disclosed a method foragricultural monitoring, the method including: (a) receiving image datacontent which is based on image data of an agricultural area, whereinthe image data is a submillimetric image resolution image data acquiredby an airborne imaging sensor at a set of imaging locations along aflight path extending over the agricultural area; (b) processing theimage data content to generate agronomic data which includes agronomicimage data; and (c) transmitting the agronomic data to an end-userremote system.

According to a further aspect of the invention, the processing includesanalyzing the image data content for identifying selected agronomicsignificant data within the image data content; and processing theagronomic significant data to provide the agronomic data.

According to a further aspect of the invention, the processing includesapplying computerized processing algorithms to the image data contentfor detecting leaves diseases or indication of parasites effect on theleaves in one or more plants in the agricultural area.

According to a further aspect of the invention, the receiving includesreceiving image data content of the agricultural area acquired atdifferent days, wherein the processing includes processing the imagedata content for determining growth parameters for the plants in theagricultural area.

According to a further aspect of the invention, the method furtherincludes applying computerized processing algorithms to agronomic datafor selecting, out of a plurality of possible recipients, a recipientfor the agronomic image data, based on agronomic expertise of thepossible recipients.

According to a further aspect of the invention, the image data contentincludes first image data content of a first agricultural property of afirst owner, and second image data content of a second agriculturalproperty of a second owner other than the first owner; wherein thetransmitting includes transmitting the first image data content in afirst message, and transmitting the second data content in a secondmessage.

According to a further aspect of the invention, the image Cam content isbased on image data acquired at a set of imaging locations along theflight path which are located less than 20 meters above the top of thecrops growing in the agricultural area.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to understand the invention and to see how it may be carriedout in practice, embodiments will now be described, by way ofnon-limiting example only, with reference to the accompanying drawings,in which:

FIG. 1A is a functional block diagram illustrating an example of asystem in an example environment, in accordance with examples of thepresently disclosed subject matter;

FIG. 1B is a functional block diagram illustrating an example of asystem in an example environment, in accordance with examples of thepresently disclosed subject matter;

FIG. 1C is a functional block diagram illustrating an example of asystem in an example environment, in accordance with examples of thepresently disclosed subject matter;

FIG. 2 is a flow chart illustrating an example of a method foragricultural monitoring, in accordance with examples of the presentlydisclosed subject matter;

FIG. 3 is a flow chart illustrating an example of a method foragricultural monitoring, in accordance with examples of the presentlydisclosed subject matter;

FIG. 4A illustrates a system, an agricultural area, and a flight path,in accordance with examples of the presently disclosed subject matter;

FIG. 4B illustrates a system, an agricultural area, a flight path, aserver, and a plurality of example entities to which agronomicsignificant data which is based on the image data acquired by the systemmay be transmitted, in accordance with examples of the presentlydisclosed subject matter;

FIGS. 5A through 5E illustrate optional stages of a method foragricultural monitoring, in accordance with examples of the presentlydisclosed subject matter;

FIG. 6 is a flow chart illustrating an example of a method foragricultural monitoring, in accordance with examples of the presentlydisclosed subject matter;

FIG. 7 is a flow chart illustrating an example of a method foragricultural monitoring, in accordance with examples of the presentlydisclosed subject matter;

FIG. 8 is a flow chart illustrating an example of a method foragricultural monitoring, in accordance with examples of the presentlydisclosed subject matter;

FIG. 9 is a functional block diagram illustrating an example of anagricultural monitoring system, in accordance with examples of thepresently disclosed subject matter;

FIG. 10 is a functional block diagram illustrating an example of anagricultural monitoring system, in accordance with examples of thepresently disclosed subject matter;

FIGS. 11A, 11B, 11C and 11D are functional block diagrams illustratingexamples of an agricultural monitoring system with motion compensationmechanisms, in accordance with examples of the presently disclosedsubject matter;

FIG. 12 is a functional block diagram illustrating an example of anagricultural monitoring system, in accordance with examples of thepresently disclosed subject matter;

FIG. 13 illustrates several images acquired by an airborne imagingsensor, according to a method for agricultural monitoring, in accordancewith examples of the presently disclosed subject matter;

FIG. 14 illustrates cropping of individual leaves from the image data,in accordance with examples of the presently disclosed subject matter;

FIG. 15 is a flow chart illustrating an example of a method foragricultural monitoring, in accordance with examples of the presentlydisclosed subject matter;

FIG. 16 is a functional block diagram illustrating an example of aserver used for agricultural monitoring, in accordance with examples ofthe presently disclosed subject matter;

FIG. 17 is a flow chart illustrating an example of a method formonitoring of ground areas, in accordance with examples of the presentlydisclosed subject matter;

FIG. 18 is a flow chart illustrating an example of a method formonitoring of a ground area, in accordance with examples of thepresently disclosed subject matter; and

FIG. 19 is a functional block diagram illustrating an example of aserver used for monitoring of a ground area, in accordance with examplesof the presently disclosed subject matter.

It will be appreciated that for simplicity and clarity of illustration,elements shown in the figures have not necessarily been drawn to scale.For example, the dimensions of some of the elements may be exaggeratedrelative to other elements for clarity. Further, where consideredappropriate, reference numerals may be repeated among the figures toindicate corresponding or analogous elements.

DETAILED DESCRIPTION OF EMBODIMENTS

In the following detailed description, numerous specific details are setforth in order to provide a thorough understanding of the invention.However, it will be understood by hose skilled in the art that thepresent invention may be practiced without these specific details. Inother instances, well-known methods, procedures, and components have notbeen described in detail so as not to obscure the present invention.

In the drawings and descriptions set forth, identical reference numeralsindicate those components that are common to different embodiments orconfigurations.

Unless specifically stated otherwise, as apparent from the followingdiscussions, it is appreciated that throughout the specificationdiscussions utilizing terms such as “processing”, “calculating”,“computing”, “determining”, “generating”, “setting”, “configuring”,“selecting”, “defining”, or the like, include action and/or processes ofa computer that manipulate and/or transform data into other data, saiddata represented as physical quantities, e.g. such as electronicquantities, and/or said data representing the physical objects. Theterms “computer”, “processor”, and “controller” should be expansivelyconstrued to cover any kind of electronic device with data processingcapabilities, including, by way of non-limiting example, a personalcomputer, a server, a computing system, a communication device, aprocessor (e.g. digital signal processor (DSP), a microcontroller, afield programmable gate array (FPGA), an application specific integratedcircuit (ASIC), etc.), any other electronic computing device, and or anycombination thereof.

The operations in accordance with the teachings herein may be performedby a computer specially constructed for the desired purposes or by ageneral purpose computer specially configured for the desired purpose bya computer program stored in a computer readable storage medium.

As used herein, the phrase “for example,” “such as”, “for instance” andvariants thereof describe non-limiting embodiments of the presentlydisclosed subject matter. Reference in the specification to “one case”,“some cases”, “other cases” or variants thereof means that a particularfeature, structure or characteristic described in connection with theembodiment(s) is included in at least one embodiment of the presentlydisclosed subject matter. Thus the appearance of the phrase “one case”,“some cases”, “other cases” or variants thereof does not necessarilyrefer to the same embodiment(s).

It is appreciated that certain features of the presently disclosedsubject matter, which are, for clarity, described in the context ofseparate embodiments, may also be provided in combination in a singleembodiment. Conversely, various features of the presently disclosedsubject matter, which are, for brevity, described in the context of asingle embodiment, may also be provided separately or in any suitablesub-combination.

In embodiments of the presently disclosed subject matter one or morestages illustrated in the figures may be executed in a different orderand/or one or more groups of stages may be executed simultaneously andvice versa. The figures illustrate a general schematic of the systemarchitecture in accordance with an embodiment of the presently disclosedsubject matter. Each module in the figures can be made up of anycombination of software, hardware and/or firmware that performs thefunctions as defined and explained herein. The modules in the figuresmay be centralized in one location or dispersed over more than onelocation.

FIG. 1A is a functional block diagram illustrating an example of system10 in an example environment, in accordance with examples of thepresently disclosed subject matter. System 10 is an airborne system,which include an airborne platform 100, which carries imaging sensor210. As discussed below in greater detail, imaging sensor 210 is flownby airborne platform 100 over an agricultural area, so as to enableimaging sensor 210 to acquire image data of the agricultural area. Imagedata content which is based on the acquired image data is thentransferred from system 10 to a remote location, where it can beanalyzed for obtaining agronomic significant data.

Different types of airborne platforms may be used as airborne platform100. For examples, airborne platform 100 may be an airborne platform ofany one of the following airborne platform types: an airplane, ahelicopter, a multirotor helicopter (e.g. a quadcopter), an unmannedaerial vehicle (UAV), a powered parachute (also referred to as motorizedparachute, PPC, and paraplane), and so on. The type of airborne platform100 may be determined based on various considerations, such asaerodynamic parameters (e.g. velocity, flight altitude, maneuveringcapabilities, stability, carrying capabilities, etc.), degree of manualcontrol or automation, additional uses required from the airborneplatform, and so on.

In addition to imaging sensor 210, system 10 further includes processor220 and communication module 230, all of which are connected to airborneplatform 100. The connection of any one of imaging sensor 210, processor220 and communication module 230 (or any other component of system 10carried by airborne platform 100) to airborne platform 100 may be adetachable connection, but this is not necessarily so. For example, anyone of the aforementioned components 210, 220 and/or 230 may be designedto be easily installed on and removed from an airborne platform 100which may be used for various utilizations when the relevant componentsof system 10 are not installed on it.

FIG. 1B is a functional block diagram illustrating an example of system10 in an example environment, in accordance with examples of thepresently disclosed subject matter. As can be seen in the example ofFIG. 1B, some of the components of system 10 (and especially imagingsensor 210) may be included in a stand-alone detachable pod 280 whichmay be attached and detached from one or more aircraft, based on need.Such a stand-alone pod 280 may consist of agricultural monitoring system200, which is discussed below, e.g. with respect to FIGS. 9-11C.

FIG. 1C is a functional block diagram illustrating an example of system10 in an example environment, in accordance with examples of thepresently disclosed subject matter. In the example of FIG. 1C, some ofthe components which enable the agricultural utilization of system 10are located in an external pod 280, while others functionalities areenabled by components of airborne platform 100 (in the illustratedexample, communication module 230).

As exemplified in FIGS. 1B and 1C, the detachable pod 280 may bedetachable pod with respect to airborne platform 100. For example,detachable pod 280 may be detachably attached to a fuselage of airborneplatform 100 (e.g. to its underbelly, as exemplified in FIG. 1B), or toa wing of airborne platform 100 (as exemplified in FIG. 1C).

It is noted that system 10 may include additional components, such as analtimeter, an airspeed indicator, pitch, roll and/or yaw sensors, aninterface for connecting to avionics and other systems of airborneplatform 100, etc.

FIG. 2 is a flow chart illustrating an example of method 500 foragricultural monitoring, in accordance with examples of the presentlydisclosed subject matter. Referring to the examples set forth withrespect to the previous drawing, method 500 may be executed by system10. Additional discussion and details pertaining to system 10 areprovided below, following the discussion pertaining to method 500.

Stage 510 of method 500 includes flying an airborne imaging sensor alonga flight path over an agricultural area in which crops grow. Referringto the examples set forth with respect to the previous drawings, theairborne imaging sensor may be imaging sensor 210, and the flying ofstage 510 may be executed by airborne platform 100.

It is noted that crops of different types may grow in the aforementionedagricultural area, and that the crops may include crops of one or moreplant types. For example, the agricultural area may be arable land (landunder annual crops, such as cereals, cotton, potatoes, vegetables,etc.), land used to grow permanent crops (e.g. orchards, vineyards,fruit plantations, etc.). It is noted that the agricultural area mayalso be a marine (or otherwise water-based) agricultural area, e.g. awater surface used for farming of species of algae (Algaculture).Furthermore, while method 500 may be used for agricultural monitoring ofcultivated land, it is noted that it may also be used for agriculturalmonitoring of non-cultivated land (e.g. natural forests, pastures, andmeadows, etc.). In such cases, the plants which grow in such areas maymonitored as the crops of these areas. The agricultural area which isbeing agriculturally monitored in method 500 may include one or moretypes of agricultural areas (e.g. any one or more of the above example,e.g. including both an orchard and a potatoes field).

Stage 520 of method 500 includes acquiring by the airborne imagingsensor image data of parts of the agricultural area, wherein theacquiring of the image data includes acquiring by the airborne imagingsensor at least part of the image data at a set of imaging locationsalong the flight path which enable acquisition of the image data atsubmillimetric image resolution. Referring to the examples set forthwith respect to the previous drawings, the acquiring of stage 520 may becarried out by imaging sensor 210.

The image data acquired in stage 520 may include one or more independentimages, one or more video sequences, a combination thereof, and may alsoinclude any other type of image data known in the art. The acquiring ofimage data in stage 520 may include acquiring visible light or otherelectromagnetic radiation (e.g. ultraviolet light (UV), infrared light(IR), or other parts of the electromagnetic spectrum). Other imageacquisition technologies may also be used, in addition or instead ofacquisition of light. For example, stage 520 may include acquiring imagedata by a synthetic-aperture radar (SAR) sensor.

The acquiring of the image data in stage 520 include acquiring at leastpart of the image data in submillimetric resolution. That is, in atleast part of the image data acquired by the airborne imaging sensor,parts of the agricultural area are imaged in a detail level which enableresolving details of these parts of the agricultural area which arefiner (i.e. smaller) than one square millimeter (mm²). It is noted thatthe resolvable details of the image data may be significantly smallerthan one square millimeter, e.g. smaller than 0.01 square millimeter.

It is noted that stage 520 may include acquiring by the airborne imagingsensor image data of parts of the agricultural area at an imageresolution which is finer by at least one order of magnitude than anaverage leaf size of the imaged crop. That is, in at least part of theimage data, a plurality of leaves of the crop are imaged in a resolutionwhich enables resolving at least ten independently resolvable parts ofthe leaf. A different intensity may be measured for each one of theseresolvable parts of the leaf. Optionally, stage 520 may includeacquiring by the airborne imaging sensor image data of parts of theagricultural area at an image resolution which is finer by at least twoorders of magnitude than an average leaf size of the imaged crop.Optionally, stage 520 may include acquiring by the airborne imagingsensor image data of parts of the agricultural area at an imageresolution which is finer by at least three or more orders of magnitudethan an average leaf size of the imaged crop.

Image data in which a single leaf of the crop is imaged with a pluralityof individually resolvable areas (e.g. more than 100 individuallyresolvable areas) enable using the image data to detect leaf conditionof the crop, e.g. identifying different leaves diseases, identifyinginsects and parasites on the leaves, identifying indications ofparasites effect on the leaves (e.g. eaten parts), and so on.

It is noted that stage 520 may include acquiring image data of parts ofthe agricultural area in more than one resolution and/or in more thanone image acquisition technology. In such cases, different images (orvideos) of the same part of the agricultural area which are taken indifferent resolution and/or technology may be taken concurrently or indifferent times (e.g. in different parts of the flight path, possiblyflying in another direction, altitude, etc.). Images in differentresolutions and/or in different parts of the electromagnetic spectrummay be acquired by a single sensor (e.g. taken at different times, usingdifferent lenses, using different optical filters, using differentelectronic filters, and so on).

Stage 540 of method 500 includes transmitting to an external systemimage data content which is based on the image data acquired by theairborne imaging sensor. Referring to the examples set forth withrespect to the previous drawings, the transmitting of stage 540 may beexecuted by communication module 230. The image data content which istransmitted in stage 540 may include some or all of the image dataacquired in stage 520. Alternatively (or in addition), the image datawhich is transmitted in stage 540 may include image data content whichis created by on a processing of the image data acquired in stage 520.

The transmitting of stage 540 may include transmitting the image datacontent in a wireless manner, while the airborne platform which carriesthe airborne platform is still in air. However this is not necessarilyso, and some (or all) of the image data content transmitted in stage 540may be transmitted after this aircraft have landed. The transmitting ofthe image data content may include transmitting the image data contentin a wireless manner (e.g. using radio communication, satellite basedcommunication, cellular network, etc.), in a wired manner (especially iftransmitting the data after landing of the aircraft, e.g. usinguniversal serial bus (USB) communication), or in any combinationthereof. The transmitting of the image data content in stage 540 may beexecuted in real-time or near real time (transferring image datacorresponding to one part of the imaged agricultural area beforeacquiring image data corresponding to another part of the imagedagricultural area), but this is not necessarily so.

As will be discussed below in greater detail, the image data content maybe transmitted to different types of entities, and for differentutilizations by such entities. For example, the image data content maybe transmitted to an off-site system, to be reviewed by an expert and/orto be processed by a computerized system in order to determine agronomicsignificant data for the agricultural area and/or for the crops insideit. In another example, the image data content may be transferred to anaerial application system (e.g. an agricultural aircraft or a groundcontrol system), for determining aerial application parameters foraerial application of pesticides (crop dusting) and/or fertilizer(aerial topdressing). It is noted that aerial application may refer toapplying to various kinds of materials from an aircraft—fertilizers,pesticides, seeds, etc. such aircrafts may be airplanes orhelicopters—but other types of aircrafts may also be used (e.g. hot airballoons). It is noted that in the context of the present disclosure,agricultural aircraft (and especially aerial application aircraft) maybe a manned aircraft but also an unmanned aircraft.

FIG. 3 is a flow chart illustrating an example of method 600 foragricultural monitoring, in accordance with examples of the presentlydisclosed subject matter. Referring to the examples set forth withrespect to the previous drawing, method 600 may be executed by system10. Method 600 is an example of method 500, and the stages of method 600are numbered in corresponding reference numerals to these of method 500(i.e. stage 610 is an example of stage 510, stage 620 is an example ofstage 520, and so on). It is noted that variations and examplesdiscussed with reference to method 500 (either above or below in thedisclosure) are also relevant for method 600, where applicable.

Method 500, as implemented in the example of method 600, incudes usingan airborne imaging sensor carried by an aircraft flying at very lowaltitudes for acquiring extremely high-resolution images of agriculturalcrops at high-rate (sampling large areas of the agricultural area inrelatively little time). The image data content generated on theairborne system is transmitted for processing at a remote off-siteanalysis server. The image data content is than processed by theanalysis server, and afterwards it is distributed to a managementinterface (e.g. a personal computer, a handheld computer and so on),where it is provided to an agronomist, to a manager to anotherprofessional or to a dedicated system for further analysis. The highresolution of the images acquired in stage 620 enable analysis ofindividual leaf level, which may be used, for example, in order todetect leaf diseases and/or indication of parasites effect on theleaves, etc.

As discussed below in greater detail, not all of the agricultural areais necessarily imaged, and a representing sample thereof may beselected. It is noted that agronomists which inspect an agriculturalarea (e.g. a field, an orchard) for leaf diseases generally sample theagricultural area by foot, sampling leaves along a sampling pathdesigned to represent parts of the agricultural area Using an airborneimaging sensor which provides submillimetric resolution images of leavesacross the agricultural area at high rates is not only faster than afootsampling of the agricultural area but also enable imaging of parts ofthe agricultural area which are inaccessible to pedestrian. For exampleleaves at treetops may be imaged, as well as plants which are locatedwithin dense vegetation or over rough terrain.

Stage 610 of method 600 includes flying an airborne imaging sensor overan agricultural area in which crops grow along a flight path whichincludes a plurality of low altitude imaging locations which enableacquisition of the image data at submillimetric image resolution. Theflight path may include continuous low altitude flight legs (a flightleg being a segment of a flight plan between two waypoints). Referringto the examples set forth with respect to the previous drawings, theairborne imaging sensor may be imaging sensor 210, and the flying ofstage 610 may be executed by airborne platform 100.

Optionally, stage 610 may include flying the airborne imaging sensoralong a terrain following flight path (also referred to as “nap of theearth”). The altitude of such terrain following flight path above theterrain (measured either above the face of the earth, or above thevegetation, according to circumstances) may differ, based on differentconsiderations (such as aerodynamic concerns, optical requirements ofthe imaging sensor, dimensions of the crops, etc.). For example, stage610 may include flying the airborne imaging sensor above theagricultural area at altitudes lower than 30 meters (30 m) above theground. For example, stage 610 may include flying the airborne imagingsensor above the agricultural area at altitudes lower than 20 m abovethe ground. For example, stage 610 may include flying the airborneimaging sensor above the agricultural area at altitudes lower than 10 mabove the ground. It is noted that the height of the terrain followingflight path may also be measured above the top of the crops growing inthe agricultural area (e.g. less than 10 m, 20 m, or 30 m above the topof such crops).

FIG. 4A illustrates system 10, agricultural area 900, and flight path910, in accordance with examples of the presently disclosed subjectmatter. In the illustrated example, agricultural area 900 includes twoseparated areas—wheat field 901 and orchard 902.

Flight path 910 also include two main type of flight legs—imaging flightlegs 911 along which the airborne imaging sensor acquires image data ofthe agricultural area, and transition flight legs 912, in which theairborne platform flies from an end of one imaging flight leg 911 and/orto a beginning of another imaging flight leg 912. Imaging flight legs911 are illustrated with continuous arrows, while transition flight legsare illustrated using dashed arrows. Transition flight legs 912 may beplanned over areas which are of no interest for agronomic needs, butpossibly also above agricultural area of interest, e.g. if sufficientdata is already sampled for this area.

It is noted that the two parts of agricultural area 900 (i.e. areas 901and 902) may belong to different entities. For example, wheat field 901may belong to farmer MacGregor, while orchard 902 may be a researchorchard of an agricultural company. Thus, in a simple flight, method 500(and thus also method 600) may include collecting image data ofagricultural properties of independent entities.

Clearly, field 901 and orchard 902 differ from each other in bothagricultural and agronomical aspect. The imaging of these two differentareas may therefore require different operational parameters—of theairborne platform (e.g. velocity, altitude above ground level,stability, etc.) and/or of the airborne imaging sensor (e.g. exposuretime, f-number, lens focal length, resolution, detector sensitivity,speed compensation, etc.). It is noted that the acquisition of imagedata in stage 520 (and thus also in stage 620) may include acquiringimage data of different parts of the agricultural area, using differentacquisition modes (differing from each other in aerodynamic and/orsensor parameters, e.g. as discussed above).

Reverting to FIG. 3, Stage 620 of method 600 includes acquiring by theairborne imaging sensor image data of parts of the agricultural area atsubmillimetric is resolutions. It is noted that parts of theagricultural area may also be imaged in lower resolutions (e.g. forgenerating orientation images, to which the submillimetric image datamay be associated). Nevertheless, the majority of the agricultural areasection which is imaged in stage 620 is preferably imaged assubmillimetric resolution. As mentioned above with respect to method500, optionally this imaged agricultural area section may be a sample ofthe agricultural area for which agronomic analysis is obtained in method600. The same parts which are imaged in the submillimetric resolutionmay also be imaged in lower resolution, as discussed above. Referring tothe examples set forth with respect to the previous drawings, theacquiring of stage 620 may be carried out by imaging sensor 210.

The imaging of the agricultural area in stage 620 include acquiringimaging data of representative parts of the agricultural area (e.g.sampled at different sampling locations across the agricultural area) atan image resolution which is sufficient to analyze individual leaves ofthe imaged crops (e.g. finer by at least one or two orders of magnitudethan an average leaf size of the imaged crop). FIG. 13 illustratesseveral images 1000 acquired by an airborne imaging sensor, according tomethod 600, in accordance with examples of the presently disclosedsubject matter. As can be seen in the different illustrations, leaves ofdifferent kinds of plants may be analyzed for different types of leavesconditions (e.g. dryness, pests, diseases, etc.).

Reverting to FIG. 3, it is noted that the image resolution of the imagedata acquired by the airborne imaging sensor depends on severalfactors—some of which depend on the imaging sensor itself (e.g. lens,pixel density of the detector, etc.), and some of which depend on theairborne platform (e.g. altitude above ground, velocity, stability,etc.).

A ground sample distance (GSD) may be defined for the acquired imagedata as the distance between pixel centers measured on the ground. Forexample, in an image data (corresponding to a single image or to videodata) with a 500 nanometer GSD, adjacent pixels image locations are 500nanometers apart on the ground. It is noted that the GSD of the image isnot equal to its resolution, as resolving data of adjacent pixels posesadditional requirements (e.g. optical resolving quality of the lens usedfor imaging). GSD is also referred to as ground-projected sampleinterval (GSI) or ground-projected instantaneous field of view (GIFOV).

As a general consideration, given a specific imaging sensor, the GSD isabout inversely proportional to the distance between the imaging sensorand the imaged subject. Nap of the earth flight in stage 510 mayfacilitate acquisition of the image data at submillimetric resolution.Optionally, the GSD of the image data acquired in stage 620 is lowerthan 0.75 mm (i.e. each pixel covers ground area smaller than 0.75×0.75mm²). Optionally, the GSD of the image data acquired in stage 620 islower than 0.5 mm (i.e. each pixel covers ground area smaller than0.5×0.5 mm²).

Stage 630 of method 600 includes processing the image data by anairborne processing unit, to provide image data content which includeshigh quality images of leaves of the crops. The airborne processing unitis carried by the same airborne platform which flies the airborneimaging sensor over the agricultural area. Referring to the examples setforth with respect to the previous drawings, stage 630 may be carriedout by processor 220.

The processing of stage 630 may include filtering the image data (e.g.to discard image data which is not quality enough, or selecting arepresentative image for each area), compressing the image data,improving the image data (e.g. applying image enhancement processingalgorithms to which), selecting agronomic significant data, or anycombination of the above, as well as other possible processingtechniques which are known in the art.

For example, the processing of stage 630 may include processing theacquired image data in order to filter out acquired images which are notquality enough, analyzing the remaining images to identify leaves of thecrops of the agricultural area (e.g. based on leaf identificationparameters preloaded to the processing module) in some of the acquiredimages, selecting out of the images which include identifiable leaves inhigh quality a representing sample, and compressing the selected imagesto provide the image data content to be transmitted to an externalsystem.

Stage 640 of method 600 includes wirelessly transmitting to an off-siteremote server the image data content, for distribution to end-users.Referring to the examples set forth with respect to the previousdrawings, the transmitting of stage 640 may be executed by communicationmodule 230. The wireless transmitting of the image data content in stage640 may be executed in different ways (e.g. using radio communication,satellite based communication, cellular network, etc.).

From the server, the image data content—or agronomic significant datawhich is based on the image data content—may be distributed to variousentities, such as farmers, agronomists, aircraft pilots, airbornesystems, etc.

FIG. 4B illustrates system 10, agricultural area 900, flight path 910,server 300, and a plurality of example entities to which agronomicsignificant data which is based on the image data acquired by system 10may be transmitted, in accordance with examples of the presentlydisclosed subject matter.

Optionally, various computerized processing algorithms may be applied bythe server to the image data for identifying selected agronomicsignificant data, and generating agronomic image data for transmissionto a remote system based on the selected agronomic significant data.

For example, the image data content (whether processed or not) may beprovided to an agronomist 992 (in the illustrated example this is donevia a satellite connection 994). The agronomist 992 (e.g. an agronomistspecializing in quinoa residing in another country) may analyze theprovided data, and in return recommend which following step should becarried out. Such information may be provided to a farmer 993 or ownerof the agricultural area, or directly to another entity (e.g. aerialapplication instruction for spraying crops with crops protectionproducts, provided directly to an agricultural aircraft 991 which canapply such products to the agricultural area).

It is noted that system airborne platform 100 of system 10 may be usedas an agricultural aircraft used for aerial dusting. The acquisition ofthe image data by the airborne imaging sensor in such a case may beexecuted while in aerial application flight (either concurrently withthe aerial application, or in other times of the flight). This way, adedicated airborne imaging sensor may be installed on an agriculturalaircraft which is intended to fly over the agricultural area, and theflight may thereby be used for the additional benefit of gathering imagedata of agronomic interest.

Such direction or recommendations do not necessarily require involvementof an agronomist, and optionally other entities (e.g. farmer 993 orserver 300 itself) may analyze information which is based on the imagedata acquired by system 10, to provide recommendations, instructions,analysis, or other information which may be used to improve a conditionof the agricultural area and/or of the crops growing in it.

Furthermore, information gathered with respect to the agricultural areaimaged by system 10 may be used to determine how to improve a conditionof areas other than the imaged agricultural area. For example, if theimaged data enabled identifying aphids in the agricultural area, nearbyfields may also be sprayed based on this information.

FIGS. 5A through 5E illustrate optional stages of method 500 foragricultural monitoring, in accordance with examples of the presentlydisclosed subject matter. FIGS. 5A through 5E illustrate additionalstages and variations on previously presented stages which may beimplemented as part of method 500. It is noted that not all of thisstages and variations are necessarily implemented together in a singleimplementation of the invention All combinations of stages of variationswhich are discussed with respect to method 500 may be implemented, andconsist part of this disclosure.

Referring to stage 510, optionally the flight path is a terrainfollowing flight path. In other words, stage 510 may include optionalstage 511 of flying the airborne imaging sensor along a terrainfollowing flight path. The altitude of the terrain following path abovethe terrain may be lower than a predetermined height during imagingflight legs, e.g. lower than 20 m above ground (or above crops heightwhere applicable, e.g. above dense forest).

It is noted that stage 510 may include flying the airborne platform ataltitudes which reduces effects of optical aberrations of the imagingsensor and of vibrations of the imaging sensor and/or of the carryingairborne platform on the imaged data so as to enable acquisition of theimaging data in submillimetric resolution.

As discussed in greater below with respect to stage 520, optionally theimage data is acquired by the airborne imaging sensor while the airborneplatform is in motion, possibly without requiring the airborne platformto slow down. This way, system 10 as a whole can image larger parts ofthe agricultural area at a given time. This, stage 510 may include stage512 of flying in velocities which exceed 10 m/s across each imaginglocation out of the aforementioned set of imaging locations (at whichthe acquiring of the image data at submillimetric image resolution isexecuted).

Assuming an average speed of the airborne platform along an imagingflight leg which include a plurality of the aforementioned imaginglocations, the flying of stage 510 may include stage 513 of flying theairborne imaging sensor along the imaging locations of that imagingflight leg at velocities which do not fall below 50% of the averagespeed along that imaging flight leg.

Stage 510 may include stage 514 of flying the airborne imaging sensor byan agricultural aircraft which is configured for aerial application ofcrop protection products. It is noted that the acquiring of stage 520 insuch case may be executed in parallel to the aerial application (usuallyexecuted in very low altitudes above the crops, e.g. at altitudes of 3-5meters above crops, and possibly even lower), or at other parts of theflight (e.g. when the agricultural aircraft is in transition between twofields). As discussed below in greater detail, the application itselfmay be based on processing of image data acquired in method 500, eithera real-time processing of image data acquired by the same airbornesystem, or by processing image data acquired in previous flights.

Referring to the examples set forth with respect to the previousdrawings, each stage out of stage 511, 512, 513 and 514 may be executedby airborne platform 100.

As was mentioned above, the agricultural area may include differentareas which are associated with different entities. It is thereforenoted that stage 510 may include flying the airborne imaging sensoralong a flight path which extends over at least a first agriculturalproperty of a first owner and a second agricultural property of a secondowner other than the first owner. In such a case, the acquiring in stage520 may include acquiring first image data of parts of firstagricultural property and acquiring second image data of parts of thesecond agricultural property, and the is method may further includegenerating first image data content based on the first image data andgenerating second image data content based on the second image data.This enable to provide the first image data content to a first entity ina first message, and providing the second data content to a secondentity in a second message. Each of the first message and the secondmessage may include information identifying the owner of the respectiveagricultural property, and/or may be addressed to a system and/oranother entity associated with the respective owner. It is noted thatthe distinction between first image data content and the second imagedata content is not necessarily executed onboard system 200, and mayalso be executed by server 300.

Referring now to stage 520 which includes acquiring by the airborneimaging sensor image data of parts of the agricultural area, wherein theacquiring of the image data includes acquiring by the airborne imagingsensor at least part of the image data at a set of imaging locationsalong the flight path which enable acquisition of the image data atsubmillimetric image resolution.

As mentioned above, the image data may be acquired when the airborneplatform is progressing along the flight path at a regular pace, withoutslowing down its flight. Optionally, stage 520 may include stage 521 ofacquiring image data (some of it or all of it) at the set of imaginglocations while flying the airborne imaging sensor along the imaginglocations at velocities which do not fall below 50% of the average speedof the airborne platform along the flight path.

It is noted that slowing down may not be required at all, and theacquiring of stage 520 may be executed without reducing a flight speedin which the airborne imaging sensor is flown along the flight path.Optionally, the acquiring of stage 520 may include compensating formovement of the imaging sensor during the acquisition of the image data.This may be achieved, for example, by using one or more techniques ofmotion compensation.

Such various techniques for motion compensation may be used, forexample, in order to avoid blur in the image which results fromacquiring images while the airborne platform which carries the airborneimaging sensor is flying forward.

One such technique which may be used as part of method 500 for motioncompensation is moving the airborne imaging sensor (or part of which)during the process of acquisition of image data. The moving of theairborne imaging sensor (or of the one or more relevant parts of which)may be executed when the image data is actually gathered (e.g. when adetector of the airborne imaging sensor, such as a charge-coupleddevice, CCD, is collecting light arriving from the agricultural area),but may also be executed in other parts of the process of image dataacquisition (e.g. during a focusing process which precedes the lightcollection).

This kind of motion compensation may be achieved by moving one or moreparts of the airborne imaging sensor without rotating the optical axisof the light collecting parts of the sensor, (e.g. moving the sensor ina the opposite direction to the direction of flight) and/or by moving orrotating parts of the airborne imaging sensor so as to rotate its lightcollection optical axis (e.g. by rotating a mirror or a prism whichdirects light arriving from an imaged location of the agricultural areaonto a light recording part of the sensor, such as a CCD).

Stage 520 may therefore include stage 522 of mechanically moving atleast one component of the airborne imaging sensor with respect to acarrying airborne platform, for compensating for the motion of theairborne imaging sensor with respect to the crops during the acquiring.

The motion compensation in stage 520 may reduce the relative speedbetween the imaged location and the light recording part tosubstantially zero, or simply reduce it enough so that the effects ofthe relative motion between the two on the quality of the image arelower than a predefined threshold.

If, as aforementioned, the motion compensation by rotating parts of theairborne imaging sensor starts during the focusing stage, it is notedthat the focusing may start while the optical axis of the lightacquisition is diagonal to the horizon, and the actual acquisition ofimage data may take place in the part of the rotation movement in whichthe optical axis towards the imaged crop (e.g. the imaged leaf) isperpendicular to the horizon.

Optionally, the acquiring of stage 520 may include: mechanicallyrotating at least one optical component of the airborne imaging sensor(e.g. rotating mirror 213, mirror prism 212, etc.) with respect to acarrying airborne platform, for compensating for the motion of theairborne imaging sensor with respect to the crops during the acquiring,and concurrently to the rotation of the at least one optical component,for each frame out of a plurality of frames of the image data:initiating a focusing process of the imaging sensor when an acquisitionoptical axis is at a degree wider than 20° from the vertical axis, andacquiring the image data using vertical imaging, when the acquisitionoptical axis is at a degree smaller than 20° from the vertical axis. Theacquisition optical axis is the line connecting a center of an imagedlocation of the agricultural area in a given frame (the area covered bythe specific image frame), and a center of an opening (e.g. transparentwindow 219) through which light enters the imaging system towards therotating optical component.

Generally, whether motion compensation is used or not, the acquiring ofthe image data at stage 520 may include acquiring some or all of theimage data using vertical imaging (either strictly vertical or steepoblique imaging, e.g. less than 20 degrees from the vertical).

In addition or instead, other motion compensation techniques mayoptionally be implemented a part of method 500. For example, stage 520may include stage 523 of illuminating the crops during the acquiring,for compensating for the motion of the airborne imaging sensor withrespect to the crops during the acquiring. The illuminating of sage 523may include flash illumination, steady illumination (at least for theduration of the acquisition, but may be significantly longer), or othertypes of illumination. Optionally, the illuminating may starts when afocusing process which precedes image acquisition begins.

As mentioned above, acquiring the image data (and especially image dataof submillimetric resolution) from the airborne platform as disclosedwith respect to method 500 enables collecting image data of agriculturaland agronomic significance at places which are otherwise unreachable,inaccessible, or where access would be slow, dangerous, expensive and/orharming to the crops. For example leaves at treetops may be imaged, aswell as plants which are located within dense vegetation or over roughterrain. Optionally, stage 520 may include stage 524 of acquiring imagedata of parts of the agricultural area which are inaccessible to landvehicles. While it may be possible to design and manufacture a landvehicle which car reach treetops of rainforest trees, it is complicatedand expensive to do so, and possibly harmful to the natural environment.The inaccessibility of stage 524 pertains especially to land vehicleswhich are commonly used in agriculture, such as tractors, pickup trucks,center pivot irrigation equipment, combine harvesters, cotton picket,etc. It is noted that stage 520 may include acquiring image data ofparts of the agricultural area which are inaccessible by foot (i.e. to aman walking, hiking, etc.).

As also mentioned above, the image data acquired by the imaging sensorin stage 520 does not necessarily represent all of the agriculturalarea, and it may also image a representing sample thereof.

The relative part of the agricultural area which is imaged by theimaging sensor may differ between different types of crop. A differentdefinition of minimal converge area may be defined for each type ofcrop. A bench mark which may be used for such definition of coveragearea out of full field is the comparison to the coverage which may beachieved by a ground human inspector walking by foot, or higher percent.For example, i.e. if a foot inspector is expected to examine anon-random 2-3% of the field that are focused on the outer area of thefield when the foot inspector can pass by foot and/or car, the flightpath may be planned so that it will generate a random coverage includingalso the inner part of the field (and not only outer coverage) f atleast 3-5%.

Optionally, stage 520 may include stage 525 of acquiring image data ofthe agricultural area at a coverage rate of under 500 square meters perhectare (i.e. less than 5% of the agricultural area is covered by theimage data).

It is noted that stage 520 may include stage 526 of focusing the imagingsensor, prior to the collection of light by the imaging sensor. It isnoted that the focusing of the imaging sensor may be difficult,especially if executed while the airborne platform flies in significantspeeds (e.g. above 10 m/s, at velocities which do not fall below 50% ofthe average speed of the airborne platform along the flight path, etc.,e.g. as discussed with respect to stage 521). The focusing may beaffected not only from motion which results from motion of the airborneplatform with respect to the imaged location, but also from movementwithin the imaging system (e.g. as discussed with respect to stage 522).It is noted that operational parameters of the imaging system (e.g.system 200) and/or of the carrying airborne platform may be selected soas to enable the focusing. For example, the maximum altitude above thetop of the crops may be selected in order to enable efficient focusingof the imaging sensor during flight.

Stage 530 of method 500 includes processing the image data by anairborne processing unit, to provide image data content which includeshigh quality images of leaves of the crops. The airborne processing unitis carried by the same airborne platform which flies the airborneimaging sensor over the agricultural area. Referring to the examples setforth with respect to the previous drawings, stage 530 may be carriedout by processor 220.

The processing of stage 530 may include filtering the image data (e.g.to discard image data which is not quality enough, or selecting arepresentative image for each area), compressing the image data,improving the image data (e.g. applying image enhancement processingalgorithms to which), selecting agronomic significant data, or anycombination of the above, as well as other possible processingtechniques which are known in the art.

For example, the processing of stage 530 may include processing theacquired image data in order to filter out acquired images which are notquality enough, analyzing the remaining images to identify leaves of thecrops of the agricultural area (e.g. based on leaf identificationparameters preloaded to the processing module) in some of the acquiredimages, selecting out of the images which include identifiable leaves inhigh quality a representing sample, and compressing the selected imagesto provide the image data content to be transmitted to an externalsystem.

During the flight path and the image gathering the airborne system mayoptionally perform an initial image analysis, e.g. to define photoquality, blur level and image resolution to exclude images that are notin the minimal requirement of the remote image analysis server, thussave analysis time and data transfer to remote locations, whether serveror interface of end product.

As mentioned above, stage 540 includes transmitting to an externalsystem image data content which is based on the image data acquired bythe airborne imaging sensor.

Stage 540 may include stage 541 of transmitting the image data contentto the external system for displaying to an agronomist at a remotelocation agronomic image data which is based on the image data content,thereby enabling the agronomist to remotely analyze the agriculturalarea. It is noted that the image data content may be transmitted to theexternal system directly or via an intermediate system (e.g. a server),and that the external system may display the agronomic image datadirectly to the agronomist, or provide to another system informationwhich enable the display to the agronomist of the agronomic image data(e.g. a handheld computer of the agronomist, such as a smartphone). Itis noted that such agronomic image data (e.g. selected images ofinfected leaves) may be transmitted to one or more agronomists and/or toother entities, e.g. as discussed with respect to FIG. 4B. Additionaldetails with respect to optional stage 541 are discussed below.

Few of the optional stages which may be included in method 500 areillustrated in FIG. 5D. It is noted that different routes areillustrated between stage 530 and any higher numbered stage areoptional, and that some stages may be reached in different ways indifferent implementations of method 500. For example, stage 580 may beexecuted directly following stage 540, or following an intermediateexecution of stage 550 (which may include different combinations of substages of stage 550). It is noted that while all of the illustratedroutes (indicating order of execution) of stages in FIG. 5D, theseroutes do not exhaust all the possible options, and additional routesmay also be chosen, depending on various considerations which willnaturally present themselves to a person who is of skill in the art.

The image data content may be processed and used in various ways. It maybe used as a basis for various decisions and actions—such as in whatways the crops should be treated, which further monitoring of theagricultural area is required, how crops in adjacent (or even remote)agricultural areas should be treated, when are the crops expected toripen, what quantity of crops is the agricultural area expected to yieldand at which times, and so on.

Method 500 may include processing the image data content (or informationbased on it) to provide decision facilitating information. Theprocessing may be executed by an airborne processor carried by theairborne system (denoted 551), by a server (denoted 552), and/or by anend-user device (denoted 553). The processing may involve human input(e.g. in the end-user device, where the agronomist can enterinstructions based on her analysis of the image data content, or to markfor the grower farmer what signs to look for in order to sec whether asuggested treatment is working.

For example, the processing of stage 550 may include detecting ofindividual leaves, and cropping only the leaves from the image data, asexemplified in FIG. 14. FIG. 14 illustrates cropping of individualleaves from the image data, in accordance with examples of the presentlydisclosed subject matter. The image 1000 may be processed to detectleaves edges (image 1010), and then parts of the imaged may be removed,to provide image including only information of individual leaves (image1020). The leaves cropping—or other image processing algorithms appliedto the image data may be based on multi-season, multi-variety databaseof leaves images, parameters, and/or data.

The processing or stage 530 may provide, for example, any one or more ofthe following: Leaf size statistics, Leaf density statistics, Leafcolor& Spectral analysis and Morphologic statistics.

The image data content may be processed and used in various ways.Optionally, it may be transmitted to one or more entities, e.g. asdiscussed above (for example, with respect to FIG. 4B). The image datacontent may also be used to determine parameters for the airborne systemwhich executes method 500. Such parameters may be parameters whichpertain to the acquisition of further image data in another instance ofmethod 500, may be aerodynamic parameters or operational parameters forthe airborne platform, may be operational parameters for another systemcarried by the airborne platform (e.g. agricultural sprayingparameters), and so on.

Method 500 may include stage 560 of obtaining operational parameters forthe airborne system and/or to systems installed on it, based on imagedata collected in stage 520. Referring to the examples set forth withrespect to the previous drawings, stage 560 may be executed bycommunication module 230.

Optionally method 500 may include planning a following flight based onthe image data content obtained in method 500. The planning may be basedon the image data content and on agricultural considerations and/or onadditional considerations. Method 500 may include another instance ofstage 510, 520, 530 and 540 following stage 540. In such case, method500 may include stage 561 of planning a path for the subsequent instanceof flying, based on the image data acquired in a previous instance ofacquiring.

Optionally, method 500 may include stage 562 of selecting aerialapplication parameters for aerial application of crop protectionproducts by the agricultural aircraft based on processing of the imagedata.

All of the stages discussed above are performed on-hoard the airborneplatform which carries the imaging sensor used for the acquiring ofstage 520 (where stage 550 may also be performed—partially or fully—onremote systems). Other process stages may also be performed by otherentities (not carried by the airborne platform), such as a server orend-user units.

Optional stage 570 includes transmitting to an end-user device, by aserver which is located away from the airborne platform, decisionfacilitating information which is based on the image data content.Referring to the examples set forth with respect to the previousdrawings, stage 570 may be executed by server 300. The transmitting maybe executed wirelessly and/or over wired communication media, and may befacilitated by one or more intermediate systems (e.g. internet routers,etc.). Various examples to the information which is based on the imagedata content and which may facilitate decisions are provided above, aswell as examples to decision which may be thus taken.

Optional stage 580 includes analyzing information which is based on theimage data content, to provide agronomic and/or agricultural decisions.Referring to the examples set forth with respect to the previousdrawings, stage 580 may be executed by an end-user device such as acomputer used by a farmer or an agronomist (whether a portable computeror not), by a user interface (UI) connected directly to the server, andso on. It is noted that the analysis of stage 580 may be completelycomputerized (e.g. using only dedicated hardware, software and/orfirmware), or to involve to various degrees human input (e.g. theagronomist analyzing received images of leaves, based on years ofprofessional experience). The outcomes of stage 580 may be transmittedto any one of the other entities (e.g. the server, the airborne system,and so on).

Method 500 may include stage 590 of presenting to an agronomist at aremote location (i.e. remote from the agricultural area. possibly inanother country) agronomic image data which is based on the image datacontent, thereby enabling the agronomist to remotely analyze theagricultural area. Referring to the examples set forth with respect tothe previous drawings, stage 590 may be executed by an end-user devicesuch as a computer used by a farmer or an agronomist (whether a portablecomputer or not), by a user interface (UI) connected directly to theserver, and so on.

Reverting to stage 550 which includes processing the image data contentor information based on it to provide decision facilitating information,it is noted that the processing may include various processingprocedures.

Stage 550 may include stage 554 of applying computerized processingalgorithms to the image data content (either directly, or indirectly oninformation which is based on the image data content) for detectingdiseases and/or indication of parasites effect on the leaves in one ormore plants in the agricultural area. It is noted that the detection ofdiseases in stage 554 may be used as a basis for further analysis,either computerized or not. For example, the computerized processingalgorithms may be used for detection of leaves which were eaten byparasites, and these images may then be transferred to an agronomist forassessing the type of the parasite, and which measures should be takento assist the crops.

Stage 550 may include stage 555 of determining health parameters forlarge scale level (e.g. for entire field, for a hectare of forest, acounty, a country, etc.), based on high resolution images of manyindividual plants in the agricultural area. Such parameters may include,by way of example: irrigation gaps or general level of irrigation,nitrogen, leaf disease above certain coverage that is significant to theentire field, per crop and time in the growing season, as in a possiblecases of late blight, or in the case of insects such as Colorado Beatle,in which reaching a certain identification, in a scattered location onthe field as can be defined by GPS location of the photos in which itwas identified, will define the entire field as infected. Additionalparameter is emergence percentage in early stage of growing defined bythe scattered flight pattern of the low flying and enable definingemergence in full field level.

Stage 550 may include stage 556 of processing image data acquired atdifferent times over multiple weeks, for determining growth parametersfor the plants in the agricultural area. The image data may be acquiredover multiple weeks by reiterating the stages of flying, of acquiringand of transmitting several times over multiple weeks. The reiterationof these stages may be executed by a single airborne systems, or bydifferent airborne systems.

Stage 550 may include stage 557 of applying computerized processingalgorithms to the image data (directly or indirectly, e.g. to the imagedata content) for identifying selected agronomic significant data, andgenerating agronomic image data for transmission to a remote systembased on the selected agronomic significant data. This may be used, forexample, to determine which data to send for reviewing by theagronomist.

Stage 550 may also include which selecting the addressee of theprocessed information, e.g. to which agronomist (or another expert orsystem) the information should be communicated. Stage 550 may includestage 558 of applying computerized processing algorithms to the selectedagronomic significant data for selecting, out of a plurality of possiblerecipients, a recipient for the agronomic image data, based on agronomicexpertise of the possible recipients.

FIG. 6 is a flow chart illustrating an example of method 700 foragricultural monitoring, in accordance with examples of the presentlydisclosed subject matter. Referring to the examples set forth withrespect to the previous drawing, method 700 may be executed by system10. Method 700 is an example of method 500, and the stages of method 700are numbered in corresponding reference numerals to these of method 500(i.e. stage 710 is an example of stage 510, stage 720 is an example ofstage 520, and so on). It is noted that variations and examplesdiscussed with reference to method 500 (either above or below in thedisclosure) are also relevant for method 700, where applicable.

Method 500, as implemented in the example of method 700, incudes usingan airborne imaging sensor carried by an aircraft flying at very lowaltitudes for acquiring extremely high-resolution images of agriculturalcrops at high-rate (sampling large areas of the agricultural area inrelatively little time). The image data content generated on theairborne system is transmitted for processing at a remote off-siteanalysis server. The image data content is than processed by theanalysis server, and afterwards it is distributed to a managementinterface (e.g. a personal computer, a handheld computer and so on),where it is provided to an agronomist, to a manager to anotherprofessional or to a dedicated system for further analysis. The highresolution of the images acquired in stage 720 enable analysis ofindividual leaf level, which may be used, for example, in order todetect leaves diseases or indication of parasites effect on the leaves.

Stage 710 of method 700 includes flying, by an agricultural airplane(e.g. a dusting plane, as illustrated in FIG. 6), an airborne digitalcamera over a potato field in which potatoes grow, at velocities ofbetween 10 and 15 m/s along a flight path which includes a plurality oflow altitude imaging locations of about 40 feet above the crop level,which enable acquisition of the image data at submillimetric imageresolution.

Stage 720 of method 700 includes acquiring by the airborne digitalcamera image data of parts of the potatoes field at submillimetricresolutions of about 0.4 mm. The ground area covered by the digitalcamera in a single image is illustrated by the trapezoid drawn over thefield.

Stage 730 of method 700 includes processing the image data by anairborne processing unit carried onboard the agricultural airplane, toprovide image data content which includes high quality images of leavesof the potatoes. In the illustrated example, part of the image acquiredin stage 720 is cropped, so that only the area around detected suspectedpoints in the acquired image are prepared for transmission in stage 740.In the illustrated example, the suspected point are actually leaf areaswhich demonstrate early stages of blight.

Stage 140 of method 700 includes wirelessly transmitting to an off-siteremote server tie image data content, for distribution to end-users,such as an agronomist.

FIG. 7 is a flow chart illustrating an example of method 800 foragricultural monitoring, in accordance with examples of the presentlydisclosed subject matter. Referring to the examples set forth withrespect to the previous drawing, method 800 may be executed by system10. Additional discussion and details pertaining to system 10 areprovided below, following the discussion pertaining to method 800.

Method 800 includes a stage of defining a surveillance flight plan(stage 805 which is discussed below), which are followed by acquiringand utilizing image data of an agricultural area, based on thesurveillance flight plan. The stages of method 800 which follow stage805 may be variations of the corresponding stages of method 500(corresponding stages of these two methods are numbered in correspondingreference numerals, i.e. stage 810 corresponds to stage 510, stage 820corresponds to stage 520, and so on). It is noted that variations andexamples discussed with reference to method 500 are also relevant formethod 800, where applicable, mutatis mutandis. Where applicable, therelevant variations of stages 510, 520 and possibly also 530, 540 andfollowing stages, may be implemented in the corresponding stages ofmethod 800 (i.e. 810, 820, and so on) as executed based also on thesurveillance flight plan defined in stage 805.

Stage 805 of method 800 includes defining a surveillance flight plan foran airborne surveillance system, the surveillance flight plan includingacquisition locations plan indicative of a plurality of imaginglocations.

Referring to the examples set forth with respect to the previousdrawings, stage 805 may be executed by different entities, such asairborne system 10, server 300, and end-user device (e.g. of agronomist992, of farmer 993, of a not-illustrated planning center, and so on), orany combination thereof (e.g. a plan may be suggested by agronomist 992,and then revised by the airborne system 10 based on meteorologicalconditions).

The defining of stage 805 may be based on various considerations. Forexample, the surveillance flight path and possibly additional parametersmay be defined so as to enable image acquisition at the requiredqualities. Stage 805 may include, for example, the following substages:

-   -   Based on information obtained from the client, defining the        desired agricultural areas (also referred to as “plots”);    -   Receiving geographic information system (GIS) information of the        plots, as well as information regarding the plot structure (such        as information GIS information regarding irrigation pipes, roads        or other aspects of the plot structure).    -   Optionally, receiving information regarding the crops growing in        the agricultural area, such as type of crops, crop age (since        planting thereof), variety, etc.    -   Based on the GIS information (possibly using also additional        information), defining plot topography and obstacles in each        plot and around the plots such as irrigation systems deployed in        the field, high trees electricity lines, fixed machinery and        others.    -   Defining a surveillance flight path plan using a flight plan        tool, the surveillance flight plan being defined with respect to        each crop and per plot with general guidelines per crop (e.g.        potatoes or other flat crops filed are aimed at plots of 5-20        HA, each plot receives high altitude photo by single shot from        high altitude. The single high altitude shot is planned by GPS        coordinates to the center of the field with the magnetic heading        of the entire field in order to get a straight high altitude        photo in a single shot. The low altitude are planned at this        stage to set a flight path. The low altitude flight path is        planned an X pattern, 10-20 meters gap between photos for low        altitude extreme resolution). These definitions change per crop        family or by specific request from client. It is noted that        optionally, the same flight path is conducted on each plot        several times throughout the season.

It is noted that the surveillance flight plan may be updated. Forexample, on the day of the actual flight (if the surveillance flightplan is defined in advance), the flight crew and/or local contact mayreach the agricultural area, and verify obstacles for low flight, checkwind for optimizing flight routes by flying head or tail wind (e.g.preferably taking photos with head wind, rather than cross wind).

Stage 810 of method 800 includes flying the airborne surveillancesystem, based on the surveillance flight plan, along a flight path overan agricultural area in which crops grow. Referring to the examples setforth with respect to the previous drawings, the airborne surveillancesystem may be imaging sensor 210 or the entire airborne system 10, andthe flying of stage 810 may be executed by airborne platform 100. It isnoted that all the optional variations, implementations and sub-stagesdiscussed with respect to stage 510 may be adapted to pertain to stage810, which is executed based on the surveillance flight plan.

Stage 820 of method 800 includes acquiring by the airborne surveillancesystem during the flight, based on the acquisition locations plan, imagedata of parts of the agricultural area at submillimetric imageresolution. Referring to the examples set forth with respect to theprevious drawings, the airborne surveillance system may be imagingsensor 210 or the entire airborne system 10. It is noted that all theoptional variations, implementations and sub-stages discussed withrespect to stage 520 may be adapted to pertain to stage 820, which isexecuted based on the surveillance flight plan.

Method 800 may include optional stage 830 (illustrated in FIG. 8), whichincludes processing the image data by an airborne processing unit, toprovide image is data content which includes high quality images ofleaves of the crops. The airborne processing unit is carried by the sameairborne platform which flies the airborne surveillance system over theagricultural area. Referring to the examples set forth with respect tothe previous drawings, stage 830 may be carried out by processor 220. Itis noted that all the optional variations, implementations andsub-stages discussed with respect to stage 530 may be adapted to pertainto stage 830. Stage 830 may be executed based on the surveillance flightplan defined in stage 805, but this is not necessarily so. For example,the processing of optional stage 830 may be based on informationregarding the type of crops or of types of diseases looked for, which isincluded in the surveillance flight plan. It is noted that thesurveillance flight plan (or a more general plan defined for thesurveillance flight, a plan which includes the surveillance flight planas well as additional information) may include parameters and/orinstructions which affect the processing of optional stage 830 (e.g.instructions as of to how much information should be transmitted to anexternal system in stage 840).

It is noted that method 800 may also include processing of the imagedata for providing other decision facilitating information, similarly tothe processing discussed with respect to stage 550 (e.g. with respect tostage 551). Like stage 830, such processing of the image data may bebased on the surveillance flight plan, but this is not necessarily so.

Stage 840 of method 800 includes transmitting to an external systemimage data content which is based on the image data acquired by theairborne surveillance system. Referring to the examples set forth withrespect to the previous drawings, the transmitting of stage 840 may beexecuted by communication module 230. It is noted that all the optionalvariations, implementations and sub-stages discussed with respect tostage 520 may be adapted to pertain to stage 820, which is executedbased on the surveillance flight plan.

Method 800 may also include stages 850, 860, 870, 880 and 890, whichcorrespond to stages 550, 560, 570, 580 and 590 respectively. Each outof stages 850, 860, 870, 880 and 890 may include sub-stages whichcorrespond to the previously discussed sub-stages of the correspondingstages 550, 560, 570, 580 and 590 of method 500. Each one of stages 850,860, 870, 880 and 890 (and their sub-stages) may be is based on thesurveillance flight plan defined in stage 805, but this is notnecessarily so.

FIG. 8 is a flow chart illustrating an example of method 800 foragricultural monitoring, in accordance with examples of the presentlydisclosed subject matter. Method 800 may optionally include stage 801(which precedes stage 805), which includes receiving surveillancerequests associated with a plurality of independent entities. Stage 805in such a case may include stage 806 of defining the surveillance flightplan to indicate imaging locations for crops of each of the plurality ofindependent entities. Such entities, as discussed above, may bedifferent agricultural areas (e.g. a field and an orchard), agriculturalareas of different clients (e.g. a field of one client and another fieldbelonging to another client), and so on.

As discussed with respect to method 500 above (e.g. with respect to FIG.4A), more than one type of crop may grow in the agricultural area. Stage805 may include stage 807 of defining different acquisition parametersfor imaging locations associated with different types of crops.

Such acquisition parameters may include operational parameters of theairborne platform (e.g. velocity, altitude above ground level,stability, etc.) and/or parameters of the airborne surveillance systemand especially of its sensor (e.g. exposure time, f-number, lens focallength, resolution, detector sensitivity, speed compensation, etc.).

FIG. 9 is a functional block diagram illustrating an example ofagricultural monitoring system 200, in accordance with examples of thepresently disclosed subject matter. Some components of agriculturalmonitoring system 200 (also referred to as system 200, as a matter ofconvenience) may have analogue structure, function and/or role in system10 (and vice versa), and therefore same reference numerals were used toindicate such analogue components. It is noted that different componentsof system 200 may execute different stages of methods 500, 600, 700 and800 (e.g. as indicated below), and that system 200 as a whole mayexecute processes which include two or more stages of these methods.

Agricultural monitoring system 200 includes at least imaging sensor 210,communication module 230 and connector 290, and may include additionalcomponents such as (although not limited to) those discussed below.

Imaging sensor 210 is configured and operable to acquire image data atsubmillimetric image resolution of parts of an agricultural area 900 inwhich crops grow, when the imaging sensor is airborne. Imaging sensor210 is airborne in the sense that it is operable to acquire image datawhile being flown by an aircraft. It is nevertheless noted that imagingsensor 210 may also be used for capturing images also when not beingcarried by an aircraft. Furthermore, a standard imaging sensor (e.g. astandard digital camera such as Canon EOS 60D or Nikon D3200) may beused as imaging sensor 210.

It is noted that while at least part of the image data acquired byimaging sensor 210 is acquired in submillimetric resolution, imagingsensor 210 may optionally also acquire image data of parts of theagricultural area in lower resolutions (e.g. GSD of 2 mm, of 1 cm,etc.). Imaging sensor 210 may be configured to acquire image data inlower resolution, if implemented, using the same configuration as usedfor the submillimetric resolution acquisition (e.g. if the airborneplatform which carries imaging sensor 210 flies in higher altitude), orusing another configuration. Such other configuration may be used, forexample, to acquire orientation quality images (e.g. having GSD of 2cm), to which the high resolution image data may be registered.

As discussed above with respect to stage 520 of method 500, imagingsensor 210 may be operable to acquire image data of parts of theagricultural area at an image resolution which is finer by at least oneorder of magnitude than an average leaf size of the imaged crop. Thatis, in at least part of the image data, a plurality of leaves of thecrop are imaged in a resolution which enables resolving at least tenindependently resolvable parts of the leaf. A different intensity levelmay be measured for each one of these resolvable parts of the leaf.Optionally, imaging sensor 210 may be operable to acquire image data ofparts of the agricultural area at an image resolution which is finer byat least two orders of magnitude than an average leaf size of the imagedcrop (and optionally finer by at least three orders of magnitude).

Different kinds of imaging sensors 210 may be used as part of system200. For example, image sensor 210 may be a semiconductor charge-coupleddevices (CCD) image sensor, a complementary metal-oxide-semiconductor(CMOS) image sensor or an N-type metal-oxide-semiconductor (NMOS) imagesensor. It is noted that more than one imaging sensor 210 may beincluded in system 200. For example, system 200 may include a firstairborne imaging sensor for low altitude photography of the agriculturalarea, and a second imaging sensor 210 for high altitude orientationphotography of the agricultural area (and possibly of its environment aswell). Furthermore, system 200 may include imaging sensors 210 ofdifferent types. For example, system 200 may include imaging sensors 210which are sensitive to different parts of the electromagnetic spectrum.

In addition to any optics which may be incorporated into imaging sensor210, system 200 may further include additional optics (e.g. elements211, 212 and 213 in FIG. 11A) for directing light from the agriculturalarea onto a light collecting surface of imaging sensor 210 (e.g.optional lens 211). Such additional optics may manipulate the light itcollects before directing it onto imaging sensor 210. For example, theadditional optics may filter out parts of the electrical spectrum, mayfilter out and/or change polarization of the collected light, and so on.

Optionally, system 200 may be used to image parts of the agriculturalarea in a low altitude flight (e.g. lower than 10 m over the ground,e.g. lower than 20 m over the ground, e.g. lower than 30 m over theground). Optionally, imaging sensor 210 may be configured and operableto acquire the image data at altitude smaller than 20 meters above thetop of the crops growing in the agricultural area.

The selection of operational flight altitude for system 200 may dependon several factors. First, the altitude of the airborne system above theagricultural area determined the amount of light which reaches imagingsensor 210, and thus the exposure time and the aperture which may beused for collecting light during the acquisition of the image data.Thus, while the low flight may limit the field of view of the imagingsensor, it enables acquisition of image data using shod exposure timeand small aperture, thereby facilitating capture of image data by system200 when flying at considerable speeds.

Another consideration when determining the operational flight altitudeis the noises and cancelation thereof, especially when acquiring theimage data when flying at considerable speeds (e.g. over 10 m/s). Asdiscussed with respect to motion compensation, one of the ways in whichcompensation for the movement of the airborne platform duringacquisition may be achieved by rotating imaging sensor 210 with respectto the agricultural area, or rotating an optical component (e.g. mirrorprism 212 or rotating mirror 213) which direct light from theagricultural area onto imaging sensor 210. In such cases, the rotationspeed of the rotating optics should compensate for the angular velocityof the airborne system with respect to a fixed point on the agriculturalarea (e.g. the center of an acquired image data frame). Given a fixedlinear velocity v of the airborne platform (assuming it fliesperpendicular to the ground), the angular velocity of the airborneplatform with respect to the ground is inversely proportional to thealtitude of the airborne platform above the ground.

However, the actual angular velocity of airborne platform with respectto the agricultural area depends not only on its flight velocity andaltitude, but also on noises and movements (pitch, yaw, roll,vibrations, drift, etc.). The angular velocity is therefore consistingof the component resulting from the flight speed of the airborneplatform and from a component resulting from such noises. If V is thehorizontal flight velocity of the airborne platform and R is itsaltitude above ground, than the angular velocity is

$\omega_{real} = {{\omega_{flight} + \omega_{noise}} = {\frac{v}{R} + {\omega_{noise}.}}}$

Thus, flying in low altitude reduces the relative effect of the noiseson the angular velocity, and improves image quality. It is noted thatthe angular velocity of the rotating optical component may also bedetermined based on information regarding ω_(noise), such as informationregarding the motion of the airborne platform collected by IMU 270.

System 200 further includes communication module 220, which isconfigured and operable to transmit to an external system image datacontent which is based on the image data acquired by the airborneimaging sensor. The external system is a system which is not part ofsystem 200, optionally one which is not installed on the aircraft whichcarries system 200). It is noted that communication module 230 may beoperable to transmit image data content directly to an external systemwhich is located away from the airborne platform which carries system200. Optionally, communication module 230 may be operable to transmitimage data content to such a remote system by communicating it via acommunication module of the airborne platform (or a communication systeminstalled on the airborne platform). For example, if the airborneplatform is equipped with radio connection and/or with satellitecommunication channel to a ground unit, than communication module 230may transmit the image data content to the radio unit and/or to thesatellite communication unit, which in turn would transmit it to theground unit. As discussed with respect to stage 540 of method 500,communication module 230 may be operable to transmit the image datacontent to the external system wirelessly. As discussed with respect tostage 540 of method 500, communication module 230 may be operable totransmit the image data content to the external system in real time (orin near real time).

Different kinds of communication modules 230 may be used as part ofsystem 200. For example, internet communication module may be used,optical fiber communication module, and satellite based communicationmodule may be used.

Communication module 230 may optionally be an airborne communicationmodule in the sense that it is operable to transmit image data whilebeing flown by an aircraft. It is nevertheless noted that communicationmodule may transmit the image data content also when the aircraft isback on the ground. System 200 may be connected to the airborne platformwhen communication module transmits the image data content, but this isnot necessarily so.

System 200 further includes connector 290 which is operable to connectimaging sensor 210 to an airborne platform. The connection of theimaging sensor 210 to the airborne platform is a mechanical connection(i.e. these two objects remain spatially close to each other because ofthe connector), even if the means of connection are not mechanical (e.g.electromagnetic or chemical connection).

Different kinds of connectors 290 may be used for connecting imagingsensor 210. For example, any of the following connector types (as wellas any combination thereof) may be used for connector 290: Glue;welding; one or more screws, mechanical latches, clamps, clasps, rivets,clips, and/or bolts; hook and loops fasteners; magnetic and/orelectromagnetic fasteners, and so on.

It is noted that connector 290 may connect imaging sensor 210 to theairborne platform directly (i.e. when the sensor touches the platformeither directly or with the connector as the only separation) orindirectly (e.g. connecting a casing of system 200 to the airborneplatform, where imaging sensor 210 is connected to the casing).

It is noted that connector 290 may connect other components of system200 to the airborne platform—wither directly or indirectly. For example,one or more connectors 290 may be used to connect communication module230, optional processor 220, and/or an optional casing (not denoted) ofsystem 200 to the airborne platform. Each one of these components may beconnected by connector 290 to the airborne platform either directly orindirectly. It is noted that connector 290 may include many connectingparts, which may be used for connecting different parts of system 200 tothe airborne platform. Referring to the example of FIGS. 1A-1C,connector 290 may include a welding which welds communication module 230to the rear part of the aircraft, as well as four screws connectingimaging sensor 210 to the front of the aircraft.

It is noted that connector 290 may be operable to connect one or morecomponents of system 200 to the airborne platform in a detachable manner(e.g. using screws, hook and loop fasteners, snaps, etc.). It is notedthat connector 290 may be operable to connect one or more components ofsystem 200 to the airborne platform in an undetachable manner (e.g.using welding, glue, etc. While such a connector may be detached usingspecialized means, it is not designed to do so regularly, or more thanonce). Imaging sensor 210 may be connected to the airborne platformusing detachable and/or undetachable connector 290. Using a detachableconnector 290 may be useful, for example, if system 200 is a portableunit which is connected to different aircrafts based on needs (e.g.attached to spraying agricultural aircrafts according to a spraying planfor the day).

FIG. 10 is a functional block diagram illustrating an example ofagricultural monitoring system 200, in accordance with examples of thepresently disclosed subject matter.

Optionally, system 200 may include processor 220. Processor 220 isoperable to receive image data acquired by imaging sensor 210, toprocess the data, and to transfer to another component, unit or systeminformation which is based on the processing of the image data (suchinformation may include for example instructions, image data content,etc.). It is noted that optional processor 220 may base its processingon another sources of information in addition to the image data acquiredby imaging sensor 210. Generally, processor 220 may be configured andoperable to execute any combination of one or more of the processing,analyzing and computation processes discussed with respect to stages 530and 550 of method 500.

Processor 220 includes hardware components, and may also includededicated software and/or firmware. The hardware component of processor220 may be specially designed in order to speed up processing of theimage data. Alternatively (or in addition) general purpose processors(e.g. field programmable gate array, FPGA, AMD Opteron 16-core Abu DhabiMCM processor, and so on).

For example, processor 220 may be configured and operable to process theimage data content for detecting leaves diseases and/or indication ofparasites effect on the leaves in one or more plants in the agriculturalarea. For example, processor 220 may be configured and operable toprocess the image data content for identifying selected agronomicsignificant data, and to generate agronomic image data for transmissionto a remote system based on the selected agronomic significant data.

Optionally, imaging sensor 210 may be is configured and operable toacquire the image data while flown at velocities which exceed 10 m/s.Optionally, imaging sensor 210 may be is configured and operable toacquire the image data while flown at velocities which do not fall below50% of the average speed of the airborne platform along the flight pathor along an imaging flight leg 911, as discussed with respect to FIG.4B.

Acquiring images when a carrying airborne platform is flying atrelatively high speed may enable covering relatively large parts of theagricultural area. Covering large parts of the agricultural area mayalso be facilitated by sampling the agricultural area, acquiring imagedata from a representative sample of which (e.g. as discussed withrespect to FIG. 4B). For example, system 200 may be operable to acquireimage data of the agricultural area at a coverage rate of under 500square meters per hectare.

FIGS. 11A, 11B, 11C and 11D are functional block diagrams illustratingexamples of agricultural monitoring system 200 with motion compensationmechanisms, in accordance with examples of the presently disclosedsubject matter.

In the example of FIG. 11A, the motion compensation is achieved by arotating mirroring prism through which light is directed to imagingsensor 210. In the example of FIG. 11A, system 200 includes one or moremechanical connections 241 (a shaft, in the illustrated example) whichconnects at least one component of imaging sensor 210 (in thiscase—mirroring prism 212) to an engine 240. By mechanical connection241, motion of engine 240 mechanically moves the at least one componentof imaging sensor 210 (in the illustrated example—it moves mirroringprism 212) with respect to a carrying airborne platform (not illustratedin FIG. 11A). The motion of the engine moves the respective component(or components) of imaging sensor 210 concurrently to the acquisition ofimage data by the imaging sensor 210. It is noted that as a matter ofconvenience only, mirroring prism 212, lens 211 and mirror 213 areillustrated outside of the box of imaging sensor 210, and in fact theybelong to imaging sensor 210. It is noted that optical component maybelong to imaging sensor 210, even if they are not enclosed in the samecasing which holds a light sensitive surface of imaging sensor 210.

It is noted that other components which deflect light onto a lightsensitive surface of imaging sensor 210 may be used instead of a prism(e.g. a rotatable mirror. In FIG. 11B, the entire imaging sensor 210 ismoved by engine 240 with respect to the carrying airborne platformconcurrently to the acquisition of the image data.

The movement of the one or more components of imaging sensor 210 withrespect to the airborne platform may be used for compensating for themotion of the airborne imaging sensor with respect to the crops duringthe acquiring. Therefore, imaging sensor 210 may be operable withinsystem 200 to acquire image data of the agricultural area when thecarrying airborne platform in relatively high speeds (e.g. above 10m/s), and therefore to yield high coverage rate of the agriculturalarea.

The speed in which mechanical connection 241 moves the respectivecomponents of imaging sensor 210 may be selected so that a relativespeed between the light collecting surface of imaging sensor 210(denoted 214 in FIG. 11B) and the imaged part of the agricultural area(in this instance of image data acquisition) is zero, or close to zero,but this is not necessarily so.

Imaging sensor 210 may include a focusing mechanism (not illustrated),for focusing the light arriving from part of the agricultural area ontoa light sensitive surface of the imaging sensor 210. The focusingmechanism may be needed, for example, in order to allow acquisition ofimage data when flying in varying altitudes above the ground. Thefocusing mechanism may be operated automatically (by a focusing controlprocessor, not illustrated). The focusing control processor may beconfigured and operable to focus optics of imaging sensor 210 when lightfrom a first part of the agricultural area is projected onto a lightcollecting surface of imaging sensor 210, as imaging sensor 210 acquireslater image data from a second part of the agricultural area which donot fully overlap the first part of the agricultural area. Referring tothe example of FIG. 11B, this may be used, for example, for focusing theimage when light arrives diagonally (with respect to the ground) toimaging sensor 210, and acquiring the image data when light from theagricultural area arrives to the imaging sensor 210 vertically.

Optionally, engine 240 may be operable to mechanically rotate at leastone optical component of imaging sensor 210 with respect to the airborneplatform (e.g. via one or more mechanical connections 241), forcompensating for the motion of imaging sensor 210 with respect to thecrops during the acquiring. Imaging sensor 210 in such cases may beconfigured and operable to: (a) initiate a focusing process concurrentlyto the rotation of the at least one optical component when anacquisition optical axis is at a degree wider than 20° from the verticalaxis, and (b) acquire the image data using vertical imaging, when theacquisition optical axis is at a degree smaller than 20° from thevertical axis.

In the example of FIG. 11C, motion compensation is achieved usingillumination. Optionally, system 200 includes illumination unit 250(e.g. a projector and/or a flash unit) which is configured and operableto illuminate the crops during acquisition of image data by the airborneimaging sensor. For example, LED (light emitting diode) illumination maybe used. The illumination may be used for zo compensating for the motionof the airborne imaging sensor with respect to the crops during theacquiring. Various types of illumination may be used (e.g. depending onthe relative importance of energy consumption considerations withrespect to other design factors of system 200). It is noted that usingflash illumination may be used in order to decrease the time in whichlight sensitive surface 214 of imaging sensor 210 should be exposed tolight from agricultural area 900 in order to yield an image, which inturn reduces effects of motion blur on the resulting image data.

In the example of FIG. 11D, agricultural monitoring system 200 includesan altimeter 250. For example, altimeter 250 may be a laser altimeter,whose laser beam traverses through a corresponding window ofagricultural monitoring system 200 (denoted “altimeter window 252).System 200 may further include an inertial measurement unit (IMU) 270,which measures and reports on the aircraft's velocity, orientation, andgravitational forces, using a combination of one or more accelerometers,gyroscopes, and/or magnetometers. System 200 may also include a rotaryencoder 230, which measures a rotation rate for a rotating mirror 213(or for a rotating mirror prism 212, as discussed above).

Information from IMU 270, altimeter 250 and rotary encoder 260 may beused by engine controller 248 to determine rotation speed for engine 240(and thereby to the rotating mirror).

It is noted that the angular velocity of the imaging plane (e.g. that oftransparent window 219 which transfers light from agricultural area 900towards imaging sensor 210) depends on various factors, which includethe airspeed of the aircraft, its pitch angle, and its height above theagricultural area 900. Furthermore, information from a laser altimetermay also require correction based on pitch and tilt angles data.

Optionally, the rotation axis of the rotating mirror 213 is parallel tothe horizon, and perpendicular to the main axis of the aircraft.However, as the aircraft flight direction is not necessarily parallel tothe main axis of the aircraft (e.g. it may drift because of crosswind,or for maneuvering reasons), system 200 may also compensate for thecomponent perpendicular to the main axis of the aircraft.

FIG. 12 is a functional block diagram illustrating an example ofagricultural monitoring system 200, in accordance with examples of thepresently disclosed subject matter. As mentioned above, optionallyagricultural monitoring system 200 may include an airborne arealplatform 100 which is operable to fly the airborne imaging sensor alonga flight path over an agricultural area.

Different types of airborne platforms may be used as airborne platform100. For examples, airborne platform 100 may be an airborne platform ofany one of the following airborne platform types: an airplane, ahelicopter, a multirotor helicopter (e.g. a quadcopter), an unmannedaerial vehicle (UAV), a powered parachute (also referred to as motorizedparachute, PPC, and paraplane), and so on. The type of airborne platform100 may be determined based on various considerations, such asaerodynamic parameters (e.g. velocity, flight altitude, maneuveringcapabilities, stability, carrying capabilities, etc.), degree of manualcontrol or automation, additional uses required from the airborneplatform, and so on.

Optionally, the airborne platform 100 included in system 200 may includean engine, operable to propel the airborne platform 100 during itsflight. Optionally, the airborne platform 100 included in system 200 mayinclude wings (whether fixed or rotating), operable to provide lift tothe airborne platform 100 during its flight.

FIG. 15 is a flow chart illustrating an example of method 1100 foragricultural monitoring, in accordance with examples of the presentlydisclosed subject matter. Referring to the examples set forth withrespect to the previous drawings, method 1100 may be executed by server300. Referring to method 500, it is noted that execution of method 1100may initiate after stage 540 of transmitting the image data content isconcluded, but may also initiate during the execution of stage 540. Thatis, the server may start receiving, processing and utilizing some imagedata content, before all of the image data content is generated by theairborne system. This may be the case, for is example, if the airbornesystem processes and transmits image data content during the acquisitionflight.

Method 1100 starts with stage 1110 of receiving image data content whichis based on image data of an agricultural area, wherein the image datais a submillimetric image resolution image data acquired by an airborneimaging sensor at a set of imaging locations along a flight pathextending over the agricultural area. Referring to the examples setforth with respect to the previous drawings, the image data contentreceived in stage 1110 may be some or all of the image data contenttransmitted in stage 540 of method 500, and/or some or all of the imagedata content transmitted by communication module 230 of system 200.Stage 1110 may be executed by communication module 310 of server 300.

Method 1100 continues with stage 1120 of processing the image datacontent to generate agronomic data which includes agronomic image data.Referring to the examples set forth with respect to the followingdrawing, stage 1120 may be executed by server processing module 320. Itis noted that different types of processing of the image data contentmay be executed in stage 1120. Especially, any processing techniquediscussed with respect to stage 550 may be included in stage 1120.

Optionally, the processing of stage 1120 may include analyzing the imagedata content for identifying selected agronomic significant data withinthe image data content; and processing the agronomic significant data toprovide the agronomic data.

Optionally, the processing of stage 1120 may include applyingcomputerized processing algorithms to the image data content fordetecting leaves diseases or indication of parasites effect on theleaves in one or more plants in the agricultural area.

Stage 1130 of method 1100 includes transmitting the agronomic data to anend-user remote system. Referring to the examples set forth with respectto the following drawing, stage 1130 may be executed by communicationmodule 310 of server 300.

Referring to the examples set forth with respect to the previousdrawings, the agronomic data transmitted in stage 1130 may betransmitted to various entities such as agricultural airplane 991,agronomist 992, and/or farmer 993.

It is noted that method 1100 executed by a server (such as server 300)which supports the various variations discussed with respect to method500. For example, with respect to detecting growth of crops in theagricultural area, the receiving of stage 1110 may include receivingimage data content of the agricultural area acquired (by at least oneimaging sensor) at different days (which may extend over several weeks),and the processing of stage 1120 may include processing the image datacontent for determining growth parameters for the plants in theagricultural area.

With respect to another example of monitoring agricultural areas ofmultiple entities, it is noted that optionally, the image data contentmay include first image data content of a first agricultural property ofa first owner, and second image data content of a second agriculturalproperty of a second owner other than the first owner; and thetransmitting of stage 1130 may include transmitting the first image datacontent in a first message, and transmitting the second data content ina second message. Each of the first message and the second message mayinclude information identifying the owner of the respective agriculturalproperty, and/or may be addressed to a system and/or another entityassociated with the respective owner.

Method 1100 may further include a stage of applying computerizedprocessing algorithms to agronomic data for selecting, out of aplurality of possible recipients, a recipient for the agronomic imagedata, based on agronomic expertise of the possible recipients. Thetransmitting of stage 1130 may be executed based on results of theselecting.

FIG. 16 is a functional block diagram illustrating an example of server300 used for agricultural monitoring, in accordance with examples of thepresently disclosed subject matter. Server 300 may include communicationmodule 310 and server processing module 320, as well as additionalcomponents omitted for reasons of simplicity (e.g. power source, userinterface, etc.).

As discussed above in great detail, the image data content received maybe based on image data obtained in low flight over the agriculturalarea. Especially, the image data content may be based on image dataacquired at a set of imaging locations along the flight path which arelocated less than 20 meters above the top of the crops growing in theagricultural area.

The systems and methods discussed above where described in the contextof monitoring an agricultural area in which crops grow. It will be clearto a person who is of skill in the art that these methods and systemsmay also be useful (e.g.

ergonomically useful) also for monitoring ground areas which do notcurrently have any crops growing on them. For example, such systems andmethods may be used to determine the types of soils in these grounds,their material composition, the irrigation level in these areas, toidentify parasites or weeds, and so on. It is therefore noted that thesystems described above may be adapted to monitor ground areas with orwithout crops, mutatis mutandis. Also, the methods described above maybe adapted to monitor ground areas with or without crops, mutatismutandis. In both case, the imaging of the ground area is still done insubmillimetric resolution, and may be implemented in any of the waysdiscussed above (e.g. utilizing motion compensation, etc.). Few examplesare provided with respect to FIGS. 17, 18 and 19.

FIG. 17 is a flow chart illustrating an example of method 1800 formonitoring of a ground area, in accordance with examples of thepresently disclosed subject matter. Referring to the examples set forthwith respect to the previous drawing, method 1800 may be executed bysystem 10.

Method 1800 includes a stage of defining a surveillance flight plan(stage 1805 which is discussed below), which are followed by acquiringand utilizing image data of a ground area, based on the surveillanceflight plan. The stages of method 1800 which follow stage 1805 may bevariations of the corresponding stages of method 500 (correspondingstages of these two methods are numbered in corresponding referencenumerals, i.e. stage 1810 corresponds to stage 510, stage 1820corresponds to stage 520, and so on)—with the modification that theground area is not necessarily an agricultural area in which crops grow.For example—it may be an agricultural area before (or after) crops growin it (e.g. after seeding), a ground area adjacent to an agriculturalarea (and which may affect the ground area, e.g. because of dust orparasites), or another type of ground area.

It is noted that variations and examples discussed with reference tomethod 500 are also relevant for method 1800, where applicable, mutatesmutandis. Where applicable, the relevant variations of stages 510, 520and possibly also 530, 540 and following stages, may be implemented inthe corresponding stages of method 1800 (i.e. 1810, 1820, and so on) asexecuted based also on the surveillance flight plan defined in stage1805—with the modification that the ground area is not necessarily anagricultural area in which crops grow.

Stage 1305 of method 1800 includes defining a surveillance flight planfor an airborne surveillance system, the surveillance flight planincluding acquisition locations plan indicative of a plurality ofimaging locations.

Referring to the examples set forth with respect to the previousdrawings, stage 1805 may be executed by different entities, such asairborne system 10, server 300, and end-user device (e.g. of agronomist992, of farmer 993, of a not-illustrated planning center, and so on), orany combination thereof (e.g. a plan may be suggested by agronomist 992,and then revised by the airborne system 10 based on meteorologicalconditions).

The defining of stage 1805 may be based on various considerations. Forexample, the surveillance flight path and possibly additional parametersmay be defined so as to enable image acquisition at the requiredqualities. Stage 1805 may include, for example, the following substages:

-   -   Based on information obtained from the client, defining the        desired one or more ground areas;    -   Receiving geographic information system (GIS) information of the        one or more ground areas, as well as information regarding the        structure of the one or more ground areas (such as information        GIS information regarding irrigation pipes, roads or other        aspects of the structure).    -   Optionally, receiving information regarding the soil in the        ground area, such as type of soil, variety, etc.    -   Based on the GIS information (possibly using also additional        information), defining topography and obstacles in each of the        one or more ground areas and around the one or more ground        areas, such as irrigation systems deployed in the field, high        trees electricity lines, fixed machinery and others.    -   Defining a surveillance flight path plan using a flight plan        tool, the surveillance flight plan being defined with respect to        each of the one or more ground areas (or subdivisions thereof).        It is noted that optionally, general guidelines may be included        for different types of soils or for other distinct subareas in        the one or more ground areas

It is noted that the surveillance flight plan may be updated. Forexample, on the day of the actual flight (if the surveillance flightplan is defined in advance), the flight crew and/or local contact mayreach the ground area, and verify obstacles for low flight, cheek windfor optimizing flight routes by flying head or tail wind (e.g.preferably taking photos with head wind, rather than cross wind).

Stage 1310 of method 1800 includes flying the airborne surveillancesystem, based on the surveillance flight plan, along a flight path overa ground area (the term “ground area” is explained in the previousparagraphs). Referring to the examples set forth with respect to theprevious drawings, the airborne surveillance system may be imagingsensor 210 or the entire airborne system 10 (with the modification thatthe ground area is not necessarily an agricultural area in which cropsgrow), and the flying of stage 1810 may be executed by airborne platform100. It is noted that all the optional variations, implementations andsub-stages discussed with respect to stage 510 may be adapted to pertainto stage 1810, which is executed based on the surveillance flight plan.

Stage 1820 of method 1800 includes acquiring by the airbornesurveillance system during de flight, based on the acquisition locationsplan, image data of parts of the ground area at submillimetric imageresolution. Referring to the examples set forth with respect to theprevious drawings, the airborne surveillance system may be imagingsensor 210 or the entire airborne system 10 (with the modification thatthe ground area is not necessarily an agricultural area in which cropsgrow). It is noted that all the optional variations, implementations andsub-stages discussed with respect to stage 520 may be adapted to pertainto stage 1820, which is executed based on the surveillance flight plan.

Method 1800 may include optional stage 1830, which includes processingthe image data by an airborne processing unit, to provide image datacontent which includes high quality images of the ground and/or ofobjects laying on the ground (or partially exposed of the ground). Forexample, a clod of earth, a small piece of earth (e.g. 2 cm by 2 cm).organic layers or residue (O soil horizon, including L, F, and/or Hlayers), topsoil: (A soil horizon), a rock, a stone, a pipeline, asprinkler, living animals (e.g. insects, worms, parasites, etc.), and soon.

The airborne processing unit of stage 1830 is carried by the sameairborne platform which flies the airborne surveillance system over theground area. Referring to the examples set forth with respect to theprevious drawings, stage 1830 may be carried out by a processor of thesystem of stage 1810 (e.g. processor 220, mutatis mutandis). It is notedthat all the optional variations, implementations and sub-stagesdiscussed with respect to stage 530 may be adapted to pertain to stage1830.

Stage 1330 may be executed based on the surveillance flight plan definedin stage 1805, but this is not necessarily so. For example, theprocessing of optional stage 1830 may be based on information regardingthe type of soil or of types of agricultural conditions looked for (e.g.soil humidity, ground evenness, and so on), which is included in thesurveillance flight plan. It is noted that the surveillance flight plan(or a more general plan defined for the surveillance flight, a planwhich includes the surveillance flight plan as well as additionalinformation) may include parameters and/or instructions which affect theprocessing of optional stage 1830 (e.g. instructions as of to how muchinformation should be transmitted to an external system in stage 1840).

It is noted that method 1800 may also include processing of the imagedata for providing other decision facilitating information, similarly tothe processing discussed with respect to stage 550 (e.g. with respect tostage 551), mutatis mutandis. Like stage 1830, such processing of theimage data may be based on the surveillance flight plan, but this is notnecessarily so.

Stage 1840 of method 1800 includes transmitting to an external systemimage data content which is based on the image data acquired by theairborne surveillance system. Referring to the examples set forth withrespect to the previous drawings, the transmitting of stage 1840 may beexecuted by communication module 230, mutatis mutandis. It is noted thatall the optional variations, implementations and sub-stages discussedwith respect to stage 520 may be adapted to pertain to stage 1820,mutatis mutandis, which is executed based on the surveillance flightplan.

Method 1800 may also include stages 1850, 1860, 1870, 1880 and 1890,which correspond to stages 550, 560, 570, 580 and 590 respectively (withthe modification that the ground area is not necessarily an agriculturalarea in which crops grow). Each out of stages 1850, 1860, 1870, 1880 and1890 may include sub-stages which correspond to the previously discussedsub-stages of the corresponding stages 550, 560, 570, 580 and 590 ofmethod 500 (with the modification that the ground area is notnecessarily an agricultural area in which crops grow). Each one ofstages 1850, 1860, 1870, 1880 and 1890 (and their sub-stages) may bebased on the surveillance flight plan defined in stage 1805, but this isnot necessarily so.

Referring to method 1800 as a while, method 1800 (and particularly alsothe designing of the surveillance flight plan) may be used, for example,in order to see if a seeded agricultural area already sprouted, whethera ground area is suitable for agricultural use, in order to determinethat pipelines and/or watering systems and/or irrigation systems and/orother agricultural systems are functioning, and so on.

For example, the ground area may include different types of soil, andthe acquiring may include acquiring image data of different locations inthe ground area, for generating a soil map of the ground area (e.g.either on the airborne platform and/or on a ground system).

For example, the acquiring may include acquiring image data which isindicative of material composition of different locations in the groundarea. Such material composition may include to different types of groundand/or stones, different types of minerals, and so on.

For example, the acquiring may include acquiring image data which isindicative of agricultural preparedness level of different locations inthe ground area.

It is noted that more than one type of soil (or other objects in, on orpartly exposed of the ground) may be present in the ground area. Stage1805 may include defining different acquisition parameters for imaginglocations associated with different types of ground (or other objectssuch as those previously mentioned in this paragraph).

Such acquisition parameters may include operational parameters of theairborne platform (e.g. velocity, altitude above ground level,stability, etc.) and/or parameters of the airborne surveillance systemand especially of its sensor (e.g. exposure time, f-number, lens focallength, resolution, detector sensitivity, speed compensation, etc.).

FIG. 18 is a flow chart illustrating an example of method 1900 foragricultural monitoring, in accordance with examples of the presentlydisclosed subject matter. Referring to the examples set forth withrespect to the following drawings, method 1900 may be executed by server1300.

Referring to method 1800, it is noted that execution of method 1900 mayinitiate after stage 1840 of transmitting the image data content isconcluded, but may also initiate during the execution of stage 1840.That is, the server may start receiving, processing and utilizing someimage data content, before all of the image data content is generated bybe airborne system. This may be the case, for example, if the airbornesystem processes and transmits image data content during the acquisitionflight.

Method 1900 starts with stage 1910 of receiving image data content whichis based on image data of a ground area, wherein the image data is asubmillimetric image resolution image data acquired by an airborneimaging sensor at a set of imaging locations along a flight pathextending over the ground area. Referring to the examples set forth withrespect to the previous drawings, the image data content received instage 1910 may be some or all of the image data content transmitted instage 1840 of method 1800, and/or some or all of the image data contenttransmitted by communication module 230 of system 200 (mutatismutandis). Stage 1910 may be executed by communication module 1310 ofserver 1300.

Method 1900 continues with stage 1920 of processing the image datacontent to generate terrestrial data which includes terrestrial imagedata. Referring to the examples set forth with respect to the followingdrawing, stage 1920 may be executed by server processing module 320(mutatis mutandis). It is noted that different types of processing ofthe image data content may be executed in stage 1920. Especially, anyprocessing technique discussed with respect to stage 550 may be includedin stage 1920.

The term “terrestrial data” pertains to data which relates to landand/or to ground. In some implementations of the invention, the term“terrestrial data” may be construed broadly to also include objectswhich touch the ground, whether living objects (e.g. worms, fallenleaves) or inanimate objects (e.g. pipelines, sprinklers). However, someimplementation of method 1900 (and of server 1300) are implemented in astricter sense, in which the term “terrestrial data” pertains only tothe ground itself (topsoil, stones, etc.).

Optionally, the processing of stage 1920 may include analyzing the imagedata content for identifying selected agronomic significant data withinthe image data content; and processing the agronomic significant data toprovide the terrestrial data. For example, such selected agronomic datamay be selecting images which clearly show the type of ground, images inwhich parasites, worms, or other living creatures are shown, images inwhich rupture or wear of pipelines are shown, and so on.

Optionally, the processing of stage 1920 may include analyzing the imagedata content for identifying selected terrestrial significant datawithin the image data content; and processing the terrestrialsignificant data to provide the terrestrial data. For example, theselected terrestrial significant data may include images in which thetype of ground is shown, images which are indicative of the content oflower layers of soil (lower than the topsoil) which may be exposed insome areas, and so on.

Optionally, the processing of stage 1920 may include applyingcomputerized processing algorithms to the image data content fordifferentiating between areas with different types of soils in theground area. The different types of soil may be different types ofearth, of rocks, of stones and/or of other minerals.

Optionally, the processing of stage 1920 may include determining acomposition of materials in the ground area, and generating theterrestrial data in response to a remit of the determining.

Stage 1930 of method 1900 includes transmitting the terrestrial data toan end-user remote system. Referring to the examples set forth withrespect to the following drawing, stage 1930 may be executed bycommunication module 1310 of server 1300.

Referring to the examples set forth with respect to the previousdrawings, the terrestrial data transmitted in stage 1930 may betransmitted to various entities such as agricultural airplane 991,agronomist 992, soil scientist, geologist, and/or farmer 993.

It is noted that method 1900 may be executed by a server (such as server1300) which supports the various variations discussed with respect tomethod 1800, mutatis mutandis.

Method 1900 may further include a stage of applying computerizedprocessing algorithms to terrestrial data for selecting, out of aplurality of possible recipients, a recipient for the terrestrial imagedata, based on terrestrial expertise of the passible recipients. Thetransmitting of stage 1930 may be executed based on results of theselecting.

Referring to method 1900 generally, it is noted that the image datacontent may be based on image data acquired at a set of imaginglocations along the flight path which are located less than 20 metersabove the ground area.

FIG. 16 is a functional block diagram illustrating an example of server300 used for agricultural monitoring, in accordance with examples of thepresently disclosed subject matter. Server 1300 may includecommunication module 1310 and server processing module 1320, as well asadditional components omitted for reasons of simplicity (e.g. powersource, user interface, etc.).

As discussed above in great detail, the image data content received maybe based on image data obtained in low flight over the ground area.Especially, the image data content may be based on image data acquiredat a set of imaging locations along the flight path which are locatedless than 20 meters above the ground of the ground area.

While certain features of the invention have been illustrated anddescribed herein, many modifications, substitutions, changes, andequivalents will now occur to those of ordinary skill in the art. It is,therefore, to be understood that the appended claims are intended tocover all such modifications and changes as fall within the true spiritof the invention.

It will be appreciated that the embodiments described above are cited byway of example, and various features thereof and combinations of thesefeatures can be varied and modified.

While various embodiments have been shown and described, it will beunderstood that there is no intent to limit the invention by suchdisclosure, but rather, it is intended to cover all modifications andalternate constructions falling within the scope of the invention, asdefined in the appended claims.

1. A method for agricultural monitoring, the method comprising: flyingan airborne imaging sensor along a flight path over an agricultural areain which crops grow; acquiring by the airborne imaging sensor image dataof parts of the agricultural area, wherein the acquiring of the imagedata is executed at a set of imaging locations along the flight pathwhich enable acquisition of the image data at submillimetric imageresolution and wherein the acquiring comprises acquiring image data atthe set of imaging locations while flying the airborne imaging sensoralong the imaging locations at velocities that are non-zero along theflight path, the acquiring further comprising mechanically rotating atleast one optical component of the airborne imaging sensor with respectto a carrying airborne platform, for compensating for the motion of theairborne imaging sensor with respect to the crops during the acquiring;concurrently to the rotation of the at least one optical component, foreach frame out of a plurality of frames of the image data: initiating afocusing process of the imaging sensor, and acquiring the image datausing vertical imaging, applying computerized processing algorithms tothe image data content for detecting leaves diseases or indication ofparasites effect on the leaves, in one or more plants in theagricultural area, or applying computerized processing algorithms to theimage data for identifying selected agronomic significant data, andgenerated agronomic significant data, or applying computerizedprocessing algorithms to the selected agronomic significant data forselecting, out of a plurality of possibly recipients, a recipient forthe agronomic image data, based on agronomic expertise of the possiblerecipients; and transmitting to an external system image data contentwhich is based on the image data acquired by the airborne imagingsensor.
 2. The method according to claim 1, wherein the flight path is aterrain following flight path.
 3. The method according to claim 1,wherein the acquiring comprises mechanically moving at least onecomponent of the airborne imaging sensor with respect to a carryingairborne platform, for compensating for the motion of the airborneimaging sensor with respect to the crops during the acquiring.
 4. Themethod according to claim 1, wherein the acquiring comprisesilluminating the crops during the acquiring, for compensating for themotion of the airborne imaging sensor with respect to the crops duringthe acquiring.
 5. The method according to claim 1, wherein flyingcomprises flying the airborne imaging sensor along a flight path whichextends over at least a first agricultural property of a first owner anda second agricultural property of a second owner other than the firstowner, wherein the method comprises acquiring first image data of partsof first agricultural property and acquiring second image data of partsof the second agricultural property; generating first image data contentbased on the first image data and generating second image data contentbased on the second image data; for providing the first image datacontent to a first entity in a first message, and for providing thesecond data content to a second entity in a second message.
 6. Themethod according to claim 1, wherein the acquiring comprises acquiringimage data of parts of the agricultural area which are inaccessible toland vehicles.
 7. The method according to claim 1, wherein flyingcomprises flying the imaging sensor by an agricultural aircraft which isconfigured for aerial application of crop protection products.
 8. Themethod according to claim 7, further comprising selecting aerialapplication parameters for aerial application of crop protectionproducts by the agricultural aircraft based on processing of the imagedata.
 9. The method according to claim 1, wherein the set of imaginglocations along the flight path are located less than 20 meters abovethe top of the crops growing in the agricultural area.
 10. The methodaccording to claim 1, wherein the transmitting is followed by subsequentinstance of the flying, the acquiring and the transmitting, wherein themethod further comprises planning a path for the subsequent instance offlying, based on the image data acquired in a previous instance ofacquiring.
 11. The method according to claim 1, wherein the flying, theacquiring and the transmitting are reiterated over multiple weeks,wherein the method further comprises processing image data acquired atdifferent times over the multiple weeks, for determining growthparameters for the plants in the agricultural area.
 12. The methodaccording to claim 1, wherein the flying is preceded by defining asurveillance flight plan for an airborne surveillance system, thesurveillance flight plan comprising acquisition locations planindicative of a plurality of imaging locations, wherein the flying ofthe airborne sensor is part of flying the airborne surveillance systemalong a flight path over an agricultural area, based on the surveillanceflight plan.
 13. The method according to claim 1, wherein the flightpath is a terrain following flight path; wherein flying comprises flyingthe imaging sensor by an agricultural aircraft which is configured foraerial application of crop protection products; wherein the set ofimaging locations along the flight path are located less than 20 metersabove the top of the crops growing in the agricultural area; wherein theacquiring comprises: (a) acquiring image data at the set of imaginglocations while flying the airborne imaging sensor along the imaginglocations at velocities which do not fall below 50% of the average speedof the airborne platform along the flight path; and (b) compensating forthe motion of the airborne imaging sensor with respect to the cropsduring the acquiring, by illuminating the crops during the acquiring andby mechanically moving at least one component of the airborne imagingsensor with respect to a carrying airborne platform; wherein thetransmitting comprises transmitting the image data content to theexternal system for displaying to an agronomist at a remote locationagronomic image data which is based on the image data content, therebyenabling the agronomist to remotely analyze the agricultural area;wherein the method further comprises: prior to the flying, defining asurveillance flight plan for an airborne surveillance system, thesurveillance flight plan comprising acquisition locations planindicative of a plurality of imaging locations, wherein the flying ofthe airborne sensor is part of flying the airborne surveillance systemalong a flight path over an agricultural area, based on the surveillanceflight plan.
 14. A computer-program product including a non-transitorycomputer-readable medium containing program instructions for causing acomputer to perform agricultural monitoring, the instructionscomprising: flying an airborne imaging sensor along a flight path overan agricultural area in which crops grow; acquiring by the airborneimaging sensor image data of parts of the agricultural area, wherein theacquiring of the image data is executed at a set of imaging locationsalong the flight path which enable acquisition of the image data atsubmillimetric image resolution and wherein the acquiring comprisesacquiring image data at the set of imaging locations while flying theairborne imaging sensor along the imaging locations at velocities thatare non-zero along the flight path, the acquiring further comprisingmechanically rotating at least one optical component of the airborneimaging sensor with respect to a carrying airborne platform, forcompensating for the motion of the airborne imaging sensor with respectto the crops during the acquiring; concurrently to the rotation of theat least one optical component, for each frame out of a plurality offrames of the image data: initiating a focusing process of the imagingsensor, and acquiring the image data using vertical imaging; applyingcomputerized processing algorithms to the image data content fordetecting leaves diseases or indication of parasites effect on theleaves, in one or more plants in the agricultural area, or applyingcomputerized processing algorithms to the image data for identifyingselected agronomic significant data, and generated agronomic significantdata, or applying computerized processing algorithms to the selectedagronomic significant data for selecting, out of a plurality of possiblyrecipients, a recipient for the agronomic image data, based on agronomicexpertise of the possible recipients; and transmitting to an externalsystem image data content which is based on the image data acquired bythe airborne imaging sensor.
 15. The computer-program product of claim14, wherein the flight path is a terrain following flight path.
 16. Thecomputer-program product of claim 14, wherein the acquiring comprisesmechanically moving at least one component of the airborne imagingsensor with respect to a carrying airborne platform, for compensatingfor the motion of the airborne imaging sensor with respect to the cropsduring the acquiring.
 17. The computer-program product of claim 14,wherein the acquiring comprises illuminating the crops during theacquiring, for compensating for the motion of the airborne imagingsensor with respect to the crops during the acquiring.
 18. Thecomputer-program product of claim 14, wherein flying comprises flyingthe airborne imaging sensor along a flight path which extends over atleast a first agricultural property of a first owner and a secondagricultural property of a second owner other than the first owner,wherein the method comprises acquiring first image data of parts offirst agricultural property and acquiring second image data of parts ofthe second agricultural property; generating first image data contentbased on the first image data and generating second image data contentbased on the second image data; for providing the first image datacontent to a first entity in a first message, and for providing thesecond data content to a second entity in a second message.
 19. Thecomputer-program product of claim 14, wherein the acquiring comprisesacquiring image data of parts of the agricultural area which areinaccessible to land vehicles.
 20. The computer-program product of claim14, wherein flying comprises flying the imaging sensor by anagricultural aircraft which is configured for aerial application of cropprotection products.